bresch
287f881543
TVC: fix unallocated torque calculation
2025-01-28 15:28:24 +01:00
bresch
80d98db3a3
mc rate control: add gyroscopic torque compensation loop
...
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
bresch
a16dfa9587
CA: add thust vectoring actuator effectiveness
2025-01-27 16:43:18 +01:00
Alex Klimaj
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
Roman Bapst
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
RomanBapst
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
PavloZMN
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
bresch
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
Jacob Dahl
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
Jacob Dahl
a3215419d7
gz: remove model spawn offset ( #24165 )
2025-01-22 12:47:25 +13:00
Jacob Dahl
918eca8de4
gz: increase timeout for service request ( #24164 )
...
* gz: increase timeout for service request
* change error messages to warnings, specify retrying
* fix typo
2025-01-21 22:14:38 +01:00
RomanBapst
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
RomanBapst
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
Matthias Grob
af062c85eb
Revert "FLightTaskAuto: limit nudging speed based on distance sensor"
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This reverts commit 97cb933cff6d837e59dd55123804cd78abdca22a.
2025-01-21 09:59:47 +01:00
Marco Hauswirth
7a9608e54b
increase EKF2_RNG_FOG for FW and VTOL
2025-01-20 14:43:30 -05:00
Marco Hauswirth
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
Mathieu Bresciani
0d22905558
VTOL params: fix param name
2025-01-20 15:50:06 +01:00
Pedro Roque
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
mahimayoga
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
mahimayoga
ab46502cbd
obstacle-math: add unit tests for project_distance_on_horizontal_plane function.
2025-01-20 11:11:29 +01:00
mahimayoga
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
Daniel Agar
b1ca0495e2
ekf2: yaw estimator additional validity checks
2025-01-20 09:45:41 +01:00
Balduin
1eb9434b8c
stream ATTITUDE_QUATERNION in low bandwidth mode
2025-01-17 11:20:12 +01:00
Matthias Grob
f693fab7c8
rc_update params: remove comment about default static mixing
...
Was added back in 2014:
7441efde4745c0dddc08a36a0bbf83307f82948a
2025-01-17 08:18:42 +01:00
alexklimaj
33841cf438
Update GPS submodule
2025-01-15 11:54:04 -05:00
bresch
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
Matthias Grob
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
Mathieu Bresciani
8ecb76aba2
[Multirotor] add yaw torque low pass filter ( #24173 )
...
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
Jaeyoung Lim
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
PX4 BuildBot
9f8325e8e0
Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025
...
- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): 5e3a42b8f3619947d8bc5e3a42b8f3...619947d8bc#2197 )
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196 )
2025-01-14 21:45:04 -05:00
bresch
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
Matthias Grob
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
Matthias Grob
5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
Matthias Grob
2506bd3b5d
RpmControl: simplify the entire control logic
2025-01-14 14:55:34 +01:00
Matthias Grob
1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
Matthias Grob
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
Matthias Grob
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
Matthias Grob
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
Matthias Grob
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
oravla5
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
Matthias Grob
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
Silvan Fuhrer
e4e975806f
Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-14 02:19:49 -05:00
Jacob Dahl
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
mahimayoga
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
mahimayoga
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
Jaeyoung-Lim
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
Jaeyoung Lim
208d37e703
Remove circular dependency if control allocation ( #24195 )
...
... and actuator effectiveness
2025-01-10 16:58:15 +01:00
Balduin
a231fafafa
SIH: Add Standard VTOL Airframe ( #24175 )
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* add standard vtol airframe to SIH.
mostly took changes from 4d930bde and applied to main.
generate_fw_aerodynamics now takes four arguments rather than using the
_u class member, because depending on vehicle type _u is used
differently.
2025-01-09 15:40:06 +01:00
Silvan Fuhrer
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
Jari Nippula
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
