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Author SHA1 Message Date
Silvan Fuhrer
ce7b9d2035 improve lateral and long status messages 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:35:35 +02:00
Silvan Fuhrer
cb2c711e58 FWLatLong: fix resetting of _min_airspeed_from_guidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:26:24 +02:00
Silvan Fuhrer
23a4854e82 FWLatLongControl: call updateParameters() before using performance params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:25:55 +02:00
Silvan Fuhrer
5b7d78d54f FwLateralSetpoint: remove ff of airspeed_direction 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:23:14 +02:00
Silvan Fuhrer
c1a85d37e8 latlongcontrol: set lateral acc to 0 if NAN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:23:14 +02:00
Silvan Fuhrer
ad4067e235 lotlongcontrol: static constexpr 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:23:14 +02:00
Silvan Fuhrer
37b8ed88c4 Rename AirspeedReferenceController to AirspeedDirectionController 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:23:14 +02:00
Silvan Fuhrer
22fdbacdbe LongitudinalControlConfiguration.msg: slightly adjust wording 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-22 13:22:40 +02:00
Silvan Fuhrer
01cddd3c67 always start fw_mode_manager and fw_lat_lon_control together 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-20 12:03:20 +02:00
Silvan Fuhrer
9182e4bce7 NPFG: avoid unit tests around PI to avoid wrapping issues 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-20 12:03:09 +02:00
Silvan Fuhrer
1e13cf9cb7 messages: revert moving wind.msg to versioned 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-20 12:03:09 +02:00
Mahima Yoga
d47c270834
msgs: extra clarifications in descriptions. (#24846) 2025-05-19 11:39:50 +02:00
Silvan
8c5878bc90 boards: fix FW module names 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
Roman Bapst
911d75e578 Apply suggestions from code review 
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
 2025-05-19 09:21:43 +02:00
RomanBapst
2d43e6caf2 addressed some review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-05-19 09:21:43 +02:00
RomanBapst
ab15ba8701 FixedWingModeManager: make sure configuration handler publishes after an 
external mode has been running. Also don't publish if we are not controlling anything,
e.g. in rotary wing mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-05-19 09:21:43 +02:00
Silvan
30aeba4cca DDS topics: add FW highlevel interfaces 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
mahima-yoga
a8a354d04a msgs: Clean up message definitions and descriptions 
- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
 2025-05-19 09:21:43 +02:00
mahima-yoga
1a6b16c8ce fw-lat-lon: set altitude setpoint to NAN if height rate setpoint is provided. 
When both are set, TECS only considers the height rate.
 2025-05-19 09:21:43 +02:00
Silvan
c9a3d9e7f2 rename FWPositionController to FWModeManager 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
Silvan Fuhrer
225a783146 FWModeManger: remove throttle spike during flaring by waiting with height rate change 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
Silvan Fuhrer
4ef34f4991 FW Attitude Controller: Wheel controller rework 
add RunwayControl messge to pass wheel steering controls to wheel controller

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

Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff

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

msg/RateCtrlStatus: remove unused wheel_rate_integ field

The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.

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

wheel rate controller: use speed scaler quadratically on integrator

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

wheel yaw controller: use a time constant of 0.1

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

FW Attitude Controller: lock heading setpoint for wheels to initial heading

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
Silvan
46480b7dfb FW: Re-organize param sections for FW params 
Params that are used by FW Mode Manager
- FW NPFG: NPFG params, should be renamed to FW Lateral Control once moved to the lat/lon controller
- FW Auto Takeoff
- FW Auto Landing

Params used by Fw Lat/Long Controller:
- FW Lateral Control
- FW Longitudinal Control

Params used by both:
- FW General

Params used by Performance model:
- FW Performance (could be moerged with FW General?)

Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
Silvan Fuhrer
54ec8f9d2e TECS: protect against NAN in pitch integrator by limiting tas input to min tas 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-19 09:21:43 +02:00
mahima-yoga
84a0331856 NPFG: add unit tests and add back feasible bearing check back 2025-05-19 09:21:42 +02:00
Silvan
e3d5ab51fb perfromance model: add FW_AIRSPD_FLP_SC to reduce with flaps 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:42 +02:00
Silvan
96a3c3a37b VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:42 +02:00
Silvan
a137db9f53 TECS: harden interface for NAN altitude input 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-19 09:21:42 +02:00
RomanBapst
a2ba0e0c7a FW Position Controller rework 
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-05-19 09:21:42 +02:00
PX4 Build Bot
e50d5d8567
New Crowdin translations - zh-CN (#24875) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:57:05 +10:00
PX4 Build Bot
98a37d8e5d
New Crowdin translations - ko (#24873) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:56:53 +10:00
PX4 Build Bot
740cd2e40d
New Crowdin translations - uk (#24874) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:56:18 +10:00
Li-Tianming
815a339684
MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695) 
* Change MSP_OSD message content and rendering process

* Finish MSP_OSD battery message construct

* Finish MSP_OSD `display message` construct

	HOL|DSAM|N

* Finish MSP_FC_VARIANT(0x02) message

	BTFL

* Finish MSP_OSD RSSI message
	📶10%

* Finish MSP_OSD GPS message
	🛰 10
	🌐000.000000
	🌐00.000000

* Finish MSP_OSD PITCH ROLL  message
        🔃-10.5
	🔁13.2

* Change struct filed name

* Change OSD message postion

* Finish MSP_OSD PITCH Altitude  message
	🔝15.2

* Finish MSP_OSD distanceToHome  message
	🏠5000

* Add Hide/Show option for ALT and homeDist

* Format the code by `make format`

* Clean up stray text

* Remove other commented out dead code

* Change `sprintf()` to `snprintf()`

* Add msg field comment in `display_message` construct

* Init str buffer to 0, Change refresh rate back to 100ms

* Explicit conversion float to double

---------

Co-authored-by: Li.Tianming <Li.Tianming@example.com>
Co-authored-by: Li.Tianming <Li.Tianming>
 2025-05-16 11:33:40 -08:00
Ramon Roche
38548ded12 ci: build all with px4-dev container 
pull from github registry ghcr.io

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
 2025-05-16 09:54:49 -07:00
Ramon Roche
4c369be95e ci: make sure we run when we need to 
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
 2025-05-16 09:54:49 -07:00
Ramon Roche
e6433d443c ci: use native arch builders 
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
 2025-05-16 09:54:49 -07:00
alexcekay
ab6c6ac769 ci: fix failsafe_sim for newer GCC versions 2025-05-16 09:54:49 -07:00
alexcekay
01c23f635f ci: fix flash analysis for newer GCC versions 2025-05-16 09:54:49 -07:00
alexcekay
c1ffdc8e3e ci: use dev-container for nuttx targets 2025-05-16 09:54:49 -07:00
Hamish Willee
d1ff1a4c1d
Docs: uorb graph gen for 5x and 6x (#24856) 
Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-05-16 08:44:37 +10:00
Matthias Grob
df65e5bced
docs events_interface: fix entire paragraph being declared code by accident (#24860) 2025-05-16 08:40:21 +10:00
Ramon Roche
4e8760097d ci: build px4-dev containers on demand 
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
 2025-05-15 21:24:35 +02:00
PX4 Build Bot
cadf69f73c
New Crowdin translations - zh-CN (#24854) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-15 12:27:25 +10:00
PX4 Build Bot
9b8fe45e04
New Crowdin translations - ko (#24852) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-15 12:27:10 +10:00
PX4 Build Bot
524a10512b
New Crowdin translations - uk (#24853) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-15 12:25:46 +10:00
Julian Oes
36bfcf5ec2 boards: keep INA238 shunt value for Skynode 
This is an attempt to keep backwards compatible with Auterion's power
monitor which uses a shunt value of 0.0003 and not 0.0005.
 2025-05-15 11:04:21 +12:00
Vincent Poon
5a76868cff Change INA238_SHUNT Default Value for Consistency 
Change INA238_SHUNT Default Value from 0.0003 to 0.0005 for Consistency with INA226 & INA228.
 2025-05-15 11:04:21 +12:00
Hamish Willee
fa2b8cbd49
RC driver config Kconfig -typo (#24848) 2025-05-14 10:10:44 -08:00
Julian Oes
47cb1133c3 boards: add new target for Kakute H7 with dual IMU 2025-05-14 08:00:17 -07:00
Julian Oes
bf9167da50 ina238: actually run it 
Without this the driver would not run when started from the
i2c_launcher.
 2025-05-14 07:34:02 -07:00