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pr-cleanup-fw-state
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16287 Commits

Author SHA1 Message Date
Jaeyoung Lim ec3c3c0030 Add velocity control as a fw state 
F
F
 2023-03-30 14:10:07 +02:00
Jaeyoung Lim 3a104a425c Cleanup fixed wing path navigation state machine 2023-03-29 14:29:06 +02:00
Beniamino Pozzan 51dd6b783c microdds_client: Mark parameter as used only if truly used 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-27 10:28:43 -07:00
Beniamino Pozzan c7f67a3328 microdds_client: remove multi-instances supports, add agent IP as PX4 parameter 
- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-27 10:28:43 -07:00
Daniel Mesham 6fddbea3e4 microdds_client: fix check for length of participant XML (#21374) 2023-03-27 10:03:09 -07:00
Silvan Fuhrer ba17a137e1 Navigator: MissionFeasibiltyCheck first WP: check only to current vehicle position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer 465ddddbfd Navigator: take min of vehicle position or Home distance for first WP check 
To prevent mission rejections when vehicle is currently far away from Mission start,
but planned home is close to it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer d8ed35c422 Navigator: take vehicle position for first-WP-distance-check 
And only use Home position if current vehicle position is unknown.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer 4d2a31afe3 Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
PX4 BuildBot 58a5aa26a0 Update submodule mavlink to latest Sat Mar 25 00:39:09 UTC 2023 
- mavlink in PX4/Firmware (73104cab2e49118903cf32bdf11f6ea917fa394e): https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2
    - Changes: https://github.com/mavlink/mavlink/compare/2bdcab78b53d1e349079b43c9d726036abe0617c...e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2

    e1e68da5 2023-03-08 Hamish Willee - Add quickstart to the README (#1960)
9b92bf2e 2023-03-08 Hamish Willee - Fix enum value for payload battery (#1959)
81e9fcd5 2023-03-08 Hamish Willee - Allocate range for ras-a and indicate next free range (#1957)
abbda253 2023-03-02 Hamish Willee - Indicate preference for COMMAND_INT (#1955)
d3a8e4b8 2023-02-08 Julian Oes - development: add command to configure SiK radio
 2023-03-24 21:43:59 -04:00
Daniel Agar 4d9369dc67 Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
Silvan Fuhrer e8a8e7c677 VTOL: increase deafult of VT_QC_T_ALT_LOSS from 10 to 20m 
Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled
flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-24 13:33:52 +01:00
Silvan Fuhrer e58d33284a vtol: correct/improve quad-chute param description 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-24 13:33:52 +01:00
Matthias Grob 937d27f8ee Helicopter: add offset for yaw compensation based on collective pitch 2023-03-24 07:16:36 +01:00
Antonio Sanjurjo C 1ea993880c Fix typo in WORK_ITEM_TYPE (#21311) 
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
 2023-03-24 05:49:14 +01:00
Silvan Fuhrer 5b6d1e9290 TECS: change default for FW_T_I_GAIN_THR from 0.3 to more appropriate 0.1 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-23 15:00:36 +01:00
Silvan Fuhrer ac6c9c857a Gimbal: remove shutter and retraction handling 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-23 06:59:02 +01:00
Silvan Fuhrer d532578ecc EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer 07531d29b7 FailureDetector: fix attitude check for tailsitter 
-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer edc570adff AirspeedSelector: fix attitude rotation for tailsitter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
bresch c7bddda1db MC auto: add maximum RC assist distance during landing 2023-03-22 10:03:48 +01:00
bresch d6fa42fefd mc att: add unit tests for AttitudeControlMath helper 2023-03-22 10:01:27 +01:00
bresch edaf5bf0cd mc att: extract tilt yaw error compensation to lib 2023-03-22 10:01:27 +01:00
bresch f65daf7259 mc att: do not pass by euler angles to generate att sp from sticks 2023-03-22 10:01:27 +01:00
bresch 3e3307c0d0 ekf2: fix mag declination innovation angle wrapping 2023-03-21 21:07:28 -04:00
Daniel Agar 32a5bd32ad ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator) 2023-03-21 11:25:34 -04:00
Daniel Agar 0784901a66 ekf2: add kconfig option to enable/disable optical flow fusion 2023-03-21 11:25:34 -04:00
Matthias Grob b0189d95af Use new Vector4 class 2023-03-21 15:01:26 +01:00
Matthias Grob 08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
bresch 91364ba901 mc land detect: use z_deriv and vz for vert movement check 
z_deriv is less prone to bias errors
 2023-03-21 09:22:58 -04:00
Beat Küng 8497d3388f fix mavlink_ulog: use hrt_abstime instead of float 
The float inaccuracy was leading to problems on SITL with large timestamps.
 2023-03-20 21:47:41 -04:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Silvan Fuhrer 0afda910d1 VTOL: make sure that all virtual topics are updated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-17 19:43:01 +01:00
Silvan Fuhrer c7d4d1f45c FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer b33a8686f7 FWPositionController: only store acceleration and velocity in x 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer 17cd65a239 Navigator: remove support for DO_SET_SERVO 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer a1812dbde0 gimbal: move gimbal controls to new dedicated topic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer 1218d9b2fc mavlink_mission: remove support for DO_SET_CAMERA_ZOOM 
Camera controls should not happen through the flight controller, and
the control allocation has no means of controlling the camera zoom.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer 27658354da MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
Mohamad Akkawi 9de52bb5ec [navigator] Tone Down traffic warnings 
- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
 2023-03-16 07:32:43 +01:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Daniel Agar 19a2b4ec31 ekf2: GNSS yaw only reset test ratio for new samples 
- otherwise external test ratio monitoring could trigger a false positive
 2023-03-14 21:49:24 -04:00
AlexKlimaj e375e02974 Add GPS spoofing state 2023-03-14 20:28:32 -04:00