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pr-ekf2-ev-reset
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Author SHA1 Message Date
bresch 0fe712ba1a ekf2_ev: do not reset learned bias 
When ev resets without GNSS currently active, still consider the
position bias that was learned so far (GNSS fusion was maybe used in the
past and a meaningful bias was esimated).
 2023-06-05 16:16:02 +02:00
Julian Oes ea8b985a2f netman: fix line too long 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-06-05 12:01:07 +12:00
Ramon Roche 2f448e9d9f netman: update module description (#21664) 
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2023-06-02 09:33:18 -07:00
Giacomo Bertelli 99f6d4190c Update sitl_multiple_run.sh (#21538) 
Edited line to account for the fact that the file has been moved one level deeper in the folder tree (the same edit should be made in the documentation https://docs.px4.io/main/en/simulation/multi_vehicle_jmavsim.html)
 2023-06-02 10:28:49 +02:00
Silvan Fuhrer a52c0fd9f5 FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 1c7320b9e3 VTOL: params: add missing @decimal and @increment 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ac811450e5 Tiltrotor params: set default for VT_TILT_TRANS to 0.4 
0.4 tilt is more reasobale to get nice transitions than
the previous 0.3.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 8f64c79b4c FWAttitudeController: params: increases parameter ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 459f9c5331 Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50% 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ad778b37f5 FWRateController: fix @group, all should be in FW Rate Control group 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer f41ad10275 FW Rate Controller: relax param ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer a1167d6c98 Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item (#21641) 
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:21:23 +02:00
Niklas Hauser ebe152fc22 fmu-v6x: Increase Mavlink UART buffers 
Our serial_test showed only ~84kB/s with the default 256 RX buffer size
with significant ~2.5ms periods of the flow control RTS pin being
asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput
only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX
buffers do not increase throughput anymore, while the theoretical
maximum is 375kB/s.

Transmit buffer size is increased to 10kB same as on FMUv5x to prevent
any future differences in queue behavior and throughput. serial_test
showed ~350kB/s throughput at 3kB TX buffer size, so this is just a
precaution.
 2023-06-01 07:55:21 +02:00
Eric Katzfey d2011e99b2 commander: add Open Drone ID arming check (#21652) 2023-06-01 07:52:52 +02:00
Silvan Fuhrer 4b5e14aeec Navigator: MissionFeasibilityCheck: check if items fit to the current vehicle type (#21602) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-31 19:27:27 +02:00
Roman Bapst d6413a6a90 Refactor uncommanded descend Quad-Chute (#21598) 
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)

* disabled altitude loss quadchute by default

* altitude loss quadchute: added protection against invalid local z


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-05-31 17:57:50 +02:00
henrykotze fab58ee2bc cannode prearm by default enable on ArmingStatus 
- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed

- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
 2023-05-31 11:20:31 -04:00
Beat Küng db18a94382 refactor param: reduce flash usage 
Reduces usage by ~1.5KB
 2023-05-31 07:45:20 +02:00
Beat Küng 1bfca24fa9 refactor param: move autosave to px4::wq_configurations::lp_default work queue 
Changes initialization order as param_init now depends on wq manager
 2023-05-31 07:45:20 +02:00
Beat Küng e65a0a01d6 fix WorkQueueManager: wait until running to prevent race conditions 2023-05-31 07:45:20 +02:00
Thomas Debrunner f0dd9fa445 param: Add contained-params-bitset export interface to the param layers 
Allows for efficient looping over the contained data
 2023-05-31 07:45:20 +02:00
Thomas Debrunner bc872822bc params: Overhaul param system to use a layered approach without locking 
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
  concurrently and we rely on the fact that another export will be
  triggered in that case.
 2023-05-31 07:45:20 +02:00
alexklimaj 70178b66d8 Cannode add OSD drivers 2023-05-29 14:07:38 +02:00
Silvan Fuhrer f0b476bcba ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s 
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Silvan Fuhrer ee19ec4670 ROMFS: tailsitter SITL config: improve tuning after model changes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Silvan Fuhrer f96073f442 ROMFS: quadtailsitter SITL config: improve tuning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Julian Oes 6977fd9956 ROMFS: initial quadtailsitter tuning 
This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-29 12:25:20 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer bd182ecf70 FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer ad769db8d6 FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Alex Klimaj ee96d209d7 drivers/uavcannode: add GNSS Auxiliary publisher 2023-05-24 21:27:50 -04:00
Junwoo Hwang 822d784335 Create stale bot (Github actions) (#21630) 2023-05-24 10:13:40 +09:00
Loïc Dubois 1b9d90e7c4 mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob 7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Matthias Grob 7d0596d244 RCInput: follow topic name convention 2023-05-23 17:24:17 +02:00
Patrick José Pereira 8feb662557 systemcmds: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira cee21bd703 sensor_calibration: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 643d89f54b uORB: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira dc2428a348 px4_log: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now 
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
 2023-05-19 18:35:57 -06:00
PX4 BuildBot 74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/18955a04c7c7467e00ea42b704addb4a9c12b53a
    - Changes: https://github.com/mavlink/mavlink/compare/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa...18955a04c7c7467e00ea42b704addb4a9c12b53a

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
PX4 BuildBot 6c9dcd535c Update submodule devices to latest Fri May 19 12:38:42 UTC 2023 
- devices in PX4/Firmware (6a645f244654695f3b178b576f7f8972f87ad774): https://github.com/PX4/PX4-GPSDrivers/commit/7d19f689f0781ef4fcaa624b318fac3fe744e59b
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/99f5960eca66150e33dc277e71a4c99187c27ddc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/7d19f689f0781ef4fcaa624b318fac3fe744e59b...99f5960eca66150e33dc277e71a4c99187c27ddc

    99f5960 2023-05-02 Eric Katzfey - sbf: fixed compile errors for Qurt platform (#129)
 2023-05-19 08:41:21 -06:00
PX4 BuildBot 8ae7720569 Update submodule sitl_gazebo-classic to latest Fri May 19 12:38:32 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (599a66c8a5): https://github.com/PX4/PX4-SITL_gazebo-classic/commit/3f2b9678af781bccb621dde5b75bb2b59419dcc7
    - sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0
    - Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/3f2b9678af781bccb621dde5b75bb2b59419dcc7...2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0

    2e3ed9b 2023-05-14 JaeyoungLim - Add Quadtailsitter model based on the swan K1 (#982)
670d4d2 2023-05-12 Julian Oes - airspeed: rotate tube so it faces forward (#981)
803254d 2023-05-11 Julian Oes - tailsitter: add valid inertia, fix CG (#980)
6fd1d17 2023-05-09 JaeyoungLim - Fix advanced plane model (#979)
506f10c 2023-05-05 Julian Oes - iris: move IMU and GPS where they are (#978)
 2023-05-19 08:41:03 -06:00