287f881543
TVC: fix unallocated torque calculation
2025-01-28 15:28:24 +01:00
80d98db3a3
mc rate control: add gyroscopic torque compensation loop
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Single (rigid) rotor aircrafts have their dynamics dominated by the
gyroscopic torque. Compensating for this effect by a feedback greatly
improves stability.
Multirotors can also benefit from this feature when the difference in
RPM between the CW and CCW rotors is large (the sum of the angular
momentum of the rotors is non zero).
2025-01-27 16:43:18 +01:00
a16dfa9587
CA: add thust vectoring actuator effectiveness
2025-01-27 16:43:18 +01:00
07e7c64e60
drivers/power_monitor/ina238: retry if read fails
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* ina238: retry if read fails
* ina238: increase retries and only publish not connected if register check fails
* ina238: use I2C resets
2025-01-22 15:32:26 -05:00
045c8d9831
Mission feasibility checks: make adding new check less error prone ( #24241 )
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* make adding new feasibility checks less prone to errors
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* Update src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-22 16:56:31 +01:00
57fdda597b
vtol_takeoff: store altitude on takeoff and don't use home position altitude
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as vehicle does not need to be close to home position
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-22 14:03:18 +03:00
ee150a15b4
Optical Flow: add unit testes for only using downward distance sensor ( #23266 )
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* Test for Optical Flow checks correct camera position
* Formatting fixed
* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* For test GIVEN/WHEN/THEN added
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-22 11:58:07 +01:00
caaae6ed51
ekf2: allow sideslip fusion to always start with airspeed fusion
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This allow sideslip fusion to start during VTOL front transition or even
on a multirotor with a vertical stabilizer and an airspeed sensor for example.
2025-01-22 09:33:16 +01:00
1900d2c98f
uavcan: fix hw_errors from mutex lock, hide ESC/Servo status if no function set ( #23888 )
2025-01-22 12:48:05 +13:00
a3215419d7
gz: remove model spawn offset ( #24165 )
2025-01-22 12:47:25 +13:00
918eca8de4
gz: increase timeout for service request ( #24164 )
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* gz: increase timeout for service request
* change error messages to warnings, specify retrying
* fix typo
2025-01-21 22:14:38 +01:00
f36b45b2ff
VehicleOpticalFlow: use 32bit integer for dt
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-21 16:48:33 +03:00
25e76883b7
Integrator: use 32bit integer to store dt to avoid overflow
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-21 16:48:33 +03:00
af062c85eb
Revert "FLightTaskAuto: limit nudging speed based on distance sensor"
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This reverts commit 97cb933cff
2025-01-21 09:59:47 +01:00
7a9608e54b
increase EKF2_RNG_FOG for FW and VTOL
2025-01-20 14:43:30 -05:00
4a5aa1e947
Fix max-hagl restriction to position/altitude control ( #23667 )
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* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
2025-01-20 15:50:21 +01:00
0d22905558
VTOL params: fix param name
2025-01-20 15:50:06 +01:00
b09340cc98
Control Allocator: Add option for metric allocation (skip normalization) ( #24199 )
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* add: metric allocation
* add: actual files
* rft: moved metric allocation to pseudo-inverse via flag with public method
* del: removed metric allocation test and added test in pseudo-inverse testing
* rft: deleted extra newline at the end of pseudo inverse test file
* feat: removed unnecessary log include
2025-01-20 13:30:51 +01:00
65a8cc0e0a
sf45: scale measured distance with pitch and roll.
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Calls function from ObstacleMath library that accounts for the vehicle's attitude w.r.t the obstacle. Obstacles are assumed to be flat, vertical walls.
2025-01-20 11:11:29 +01:00
ab46502cbd
obstacle-math: add unit tests for project_distance_on_horizontal_plane function.
2025-01-20 11:11:29 +01:00
29f981f14c
collision-prevention: extract rotation scaling function into new ObstacleMath library.
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New library created for static and/or repeated code across collision prevention and driver files.
2025-01-20 11:11:29 +01:00
b1ca0495e2
ekf2: yaw estimator additional validity checks
2025-01-20 09:45:41 +01:00
1eb9434b8c
stream ATTITUDE_QUATERNION in low bandwidth mode
2025-01-17 11:20:12 +01:00
f693fab7c8
rc_update params: remove comment about default static mixing
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Was added back in 2014:
7441efde47
2025-01-17 08:18:42 +01:00
33841cf438
Update GPS submodule
2025-01-15 11:54:04 -05:00
c99cb6e94b
ekf2: do not auto-generate sideslip measurement jacobian
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This is to trade a bit of CPU load for more flash space.
2025-01-15 11:05:50 -05:00
e01fef755a
Control allocation: make heli rpm control an optional build flag disabled by default
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to save flash.
The rpm capture dirver is also disabled on default releases
2025-01-15 14:35:35 +01:00
8ecb76aba2
[Multirotor] add yaw torque low pass filter ( #24173 )
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co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com >
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com >
2025-01-15 14:02:28 +01:00
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library ( #24196 )
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* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
2025-01-15 10:12:29 +01:00
9f8325e8e0
Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025
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- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): https://github.com/mavlink/mavlink/commit/5e3a42b8f3f53038f2779f9f69bd64767b913bb8
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/619947d8bc29e80eecff18b0f4fecc42d9e171dd
- Changes: https://github.com/mavlink/mavlink/compare/5e3a42b8f3f53038f2779f9f69bd64767b913bb8...619947d8bc29e80eecff18b0f4fecc42d9e171dd
619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#2197 )
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196 )
2025-01-14 21:45:04 -05:00
12a9087e92
ekf2: constrain max variance by zero innovation update
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Clipping the variance of the covariance matrix has a destabilizing
effect as it increases the correlation between the states.
2025-01-14 21:42:33 -05:00
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
2506bd3b5d
RpmControl: simplify the entire control logic
2025-01-14 14:55:34 +01:00
1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
e4e975806f
Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-14 02:19:49 -05:00
0fb8463b79
logger: always log can_interface_status ( #24071 )
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* logger: always log can_interface_status
* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
2025-01-13 10:15:40 -07:00
879e0ea9b1
MC-hte: use allocated thrust as input for hover thrust estimator.
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Improves estimates on vehicles where thrust is often saturating.
2025-01-13 11:56:09 +01:00
28fa044386
MC-stabilized: rescale thrust input to hover thrust at zero stick input
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Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
2025-01-13 11:56:09 +01:00
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
a231fafafa
SIH: Add Standard VTOL Airframe ( #24175 )
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* add standard vtol airframe to SIH.
mostly took changes from 4d930bde
2025-01-09 15:40:06 +01:00
44b423f48d
drivers: ulanding: description: fix link to user guide section ( #24189 )
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-09 08:54:58 +01:00
cbbbbc9dfa
logger: fix file open issue if crypto algorithm is disabled
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move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
2025-01-09 07:45:09 +01:00
bresch