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Author SHA1 Message Date
Daniel Agar e7d1f07105 commander: move to WQ with callback scheduling (vehicle_command, action_request, etc) 
- backup scheduling still at 100 ms (10 Hz)
 - this considerably increases the priorty of commander (140->242)
 2023-02-14 10:43:22 -05:00
PX4 BuildBot 192764387d Update submodule mavlink to latest Tue Feb 14 12:38:55 UTC 2023 
- mavlink in PX4/Firmware (e7a5dedf48f967465d1f9e6c96a9bf304e1a74b1): https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c
    - Changes: https://github.com/mavlink/mavlink/compare/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914...2bdcab78b53d1e349079b43c9d726036abe0617c

    2bdcab78 2023-02-09 Hamish Willee - undo last commit
9c60f17a 2023-02-09 Hamish Willee - param_id char[] description
841b7683 2023-02-08 Alessandro Ros - remove invalid enum reference from storm32.xml (#1947)
8d4e50ee 2023-02-08 Julian Oes - scripts: install npm dependencies first
72a9b2c3 2023-02-08 Julian Oes - pymavlink: update submodule
 2023-02-14 09:53:11 -05:00
Knut Hjorth db539d15bd mavlink: fix bug when opening /dev/null as default stdin/stdout/stderr 
Prior commit added opening of /dev/null as 0, 1 and/or 2 file
descriptors, if they where not present. However, if the temporary
file descriptor used to open /dev/null matched the target file
descriptor, it would be immediately closed again. This commit fixes that,
and does not duplicate and close the temporary file descriptor if it is
already at the correct number.
 2023-02-14 08:18:01 +01:00
Christian Rauch 5880fe4153 remove deprecated check for CONFIG_STM32_STM32F4XXX in STM32F1 micro_hal.h 2023-02-14 08:08:24 +01:00
Daniel Agar b3eb563db4 boards: cubepilot_cubeorange_test restore sd_bench (used on test rack) 2023-02-13 23:53:54 -05:00
Julian Oes 5803f692b9 boards: update CubePilot+ test defconfig 
This is tracking upstream changes and making it build.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-13 22:36:22 -05:00
Julian Oes 01a9563955 cubeorangeplus: remove some modules to save flash 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-13 22:36:22 -05:00
Julian Oes 9d8fa38793 cubeorange: remove some modules to save flash 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-13 22:36:22 -05:00
Julian Oes 69cb1da3cc workflows: add CubeOrange+ to CI build 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-13 22:36:22 -05:00
alexklimaj e5a957ae63 boards: arkv6x add pulldowns to GPIO pins UART7 RTS and UART7 CTS 2023-02-13 22:35:23 -05:00
Daniel Agar 2ea25804a1 ekf2: allow filter init with only IMU (#21041) 
- if mag enabled heading init is now pushed to controlMagFusion()
 2023-02-13 22:07:15 -05:00
Julian Oes d69d99b191 kakuteh7v2/mini: switch on VTX+ 
This just always switches the VTX+ power on.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-02-13 22:00:49 -05:00
Alex Klimaj 3ed1c688bf drivers: icm42688p and iim42652 enable notch and AAF 2023-02-13 21:08:37 -05:00
Daniel Agar a18e07e525 drivers/imu/bosch/bmi088: add more time between configure and FIFO_READ 
- new FIFO_RESET state used to give the sensor more time after successful configuration before sampling begins

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2023-02-13 21:01:50 -05:00
Daniel Agar 1134d5338f boards: sky-drones_smartap-airlink_default disable modules to save flash 2023-02-13 20:58:17 -05:00
Daniel Agar 4d95150e18 boards: px4_fmu-v4pro_test disable gyro_fft to save flash 2023-02-13 20:56:19 -05:00
Daniel Agar 299cb32aa8 boards: nxp_fmuk66-v3_test disable gyro_fft to save flash 2023-02-13 20:55:06 -05:00
Daniel Agar bc5f4f8377 boards: mro ctrl-zero-h7 and pixracer disable modules to save flash 2023-02-13 20:53:52 -05:00
Daniel Agar 70a7edbcd0 boards: cubepilot_cubeorange_default disable SIH simulator to save flash 2023-02-13 20:47:26 -05:00
Daniel Agar b14e0c21b6 boards: px4_fmu-v2_default disable sensors/vehicle_airspeed and sensors/vehicle_optical_flow to save flash 2023-02-13 20:45:28 -05:00
Beniamino Pozzan ea91dbb0f5 gazebo-classic_iris_vision: fix airframe include and default parameters 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-02-14 03:26:56 +09:00
Jaeyoung Lim 3efc42cb14 Add standard vtol model 
Add standard vtol model sdf
 2023-02-13 13:00:39 -05:00
Jaeyoung Lim 65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
Matthias Grob 6f4d903f45 Battery: address two comments from #2242 
- use a constant instead of magic number
- fix code comment typo
 2023-02-13 13:27:08 +01:00
Hamish Willee edb6c635d5 EKF2_MAG_TYPE - fix typos (#20808) 2023-02-10 14:39:57 +01:00
Konrad b9f9f25b48 parameter_translation: Add parameter translation for renamed L1 parameters 2023-02-09 17:51:55 +01:00
Konrad 92277ebb96 FixedwingPositionControl: Explicitly set wind to zero when it is not valid. 2023-02-09 17:51:55 +01:00
Konrad de4b139540 FwPosControl: Update behavior of navigating to a waypoint when the previous waypoint is not valid. Go along the line of the current aircraft position to the desired waypoint. 2023-02-09 17:51:55 +01:00
Konrad d5025810b4 FixedWingPositionControl: remove get_nav_speed_2d function as npfg can handle this internally. 2023-02-09 17:51:55 +01:00
Konrad 6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00
Konrad 3e200bca0d fw_pos_control_l1: renaming to fw_path_navigation, l1 control is not used anymore, use a more generic naming. 2023-02-09 17:51:55 +01:00
Konrad aa3af7f707 fw_pos_control: purge L1 controller 2023-02-09 17:51:55 +01:00
Knut Hjorth fbc80c9bf5 RTL fixes and improvements for VTOL vehicles (#21011) 
* rtl: remove unconditional transition to land after descent

This was a bug, as it renders the above code lines useless.
This would cause a undesired FW landing for VTOL vehicles if
RTL_LAND_DELAY is above 0.

* rtl: head to center after loiter in VTOL FW

To get the same behavior for RTL with and without loiter before land for
VTOL drones.

* rtl: always go to descend state after return

Previously, the state would change directly to land if in MR and
RTL_LAND_DELAY was 0.0, but we will still wish to descent to
RTL_DESCEND_ALT at descent speed, instead of using landing speeds.

* rtl: mark head to center state as part of vtol transition

The next step in the sequence is transition to MC. By setting
vtol_back_transition we ensure that the acceptance radius is adapted to
the expected transition distance.
 2023-02-08 11:07:39 +01:00
Knut Hjorth 99cf1cfdfe mavlink: use /dev/null as default stdin, stdout and stderr 
If 0, 1 and/or 2 file descriptors are not open when mavlink module
starts (as might be the case for USB auto-start), use default /dev/null
so that these numbers are not used by other other files.
 2023-02-08 10:38:20 +01:00
Knut Hjorth 6c7ae3d845 mavlink: generate new log list for request start index 0 
Instead of interpret a request for "more logs than currently exists" as
a new request, use a request for index 0, which is more likely to be
the first request.
 2023-02-08 10:38:20 +01:00
KonradRudin c5d041a2f7 Rearrange npfg use path input (#21071) 
* [npfg]: Remove the guideToPoint function and replace with guideToPath

* [npfg]: remove unused navigateXXX functions

* [npfg]: Move navigateXXX Function into FWPoscontrol

* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
 2023-02-08 08:54:00 +01:00
jonasbouchraiet 9ac27c9413 Update rtl_params.c 2023-02-07 22:37:19 -05:00
Beat Küng 83c8c79af5 commander failsafe: add API to defer failsafes 2023-02-07 19:27:51 -05:00
Beat Küng a727bddc19 microdds_client: set queue depth for incoming topics according to msg definition 
Otherwise the FMU might miss publications from 2 different publishers at
the same time.
 2023-02-07 19:12:10 -05:00
Beat Küng 3f2336af32 navigator: add ModeCompleted signalling topic 2023-02-07 19:11:52 -05:00
Beat Küng f05e8a699e ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
Beat Küng ebc1d7544e battery_simulator: add support for failure injection 
For failsafe triggering in automated tests
 2023-02-07 19:11:08 -05:00
Eric Katzfey ddd1527305 Qurt PX4_INFO_RAW send to apps for display (#21080) 2023-02-07 17:22:09 -05:00
Eric Katzfey db24c2b233 Qshell static subscription (#21081) 
* Changed QShell uorb subscription to be static to avoid the duplicate sequence number error
 2023-02-07 17:18:01 -05:00
Daniel Agar 7b3befded5 ekf2: disable new gravity fusion by default 2023-02-07 13:57:10 -05:00
Daniel Sahu fa6fda6cce ekf2: new gravity observation (#21038) 
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
 2023-02-07 13:28:58 -05:00
alessandro 3e149ee6c5 FlightTaskAuto: landing position updates for precision landing (#20951) 
- precision landing works incorrectly, target position is not updated during the descent above target
 - _prepareLandSetpoints needs to update _land_position continuously

Co-authored-by: kapacheuski <kapacheuski@gmail.com>
 2023-02-07 12:07:26 -05:00
Jukka Laitinen deb6053d56 Update status leds every time when prearm check status changes 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2023-02-07 08:02:32 +01:00