55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
093b379b6b
sf45/collision-prevention: replace repeated code with ObstacleMath library functions.
2025-02-07 13:28:17 +01:00
cb332e047d
obstacle-math: add standard obstacle map functions.
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These functions help simplify repeated calculations accross driver and collision prevention files that are computing bins, angles and sensor offsets in obstacle maps.
2025-02-03 17:17:35 +01:00
f7dadd9b89
Remove inclusion of rotors in library to enable test ( #24286 )
2025-02-03 15:51:55 +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
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
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
b042f2101f
system_params: clarify SYS_HAS_MAG description
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after answering the questions:
Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?
2025-01-08 21:24:00 -05:00
1043aebf5d
analog_battery: add option for filter ( #23987 )
2025-01-03 16:01:16 +01:00
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
c69f96ec04
ADSB: replace last excess hrt_absolute_time() in the loop
2024-12-19 09:35:38 +01:00
30e51cb80e
ADSB: improve readability of unit tests
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
1a1fd59302
ADSB: pass now timestamp as arguemnt of send_traffic_warning()
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Saves some flash and CPU by not having to call hrt_absolute_time().
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
741e3e8589
ADSB: pass now timestamp as arguemnt of get_traffic_state()
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That enables us to time the unit tests better plus saves some flash and CPU.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
491ee01ac4
rpm_capture: add rpm capture driver, publising pwm_input (for now)
2024-12-19 07:30:25 +01:00
fa5a781e20
AlphaFilter: set time constant instead of alpha
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Then the update function can set the dt at every iteration if needed
2024-12-18 14:11:08 +01:00
37401d6fd1
AlphaFilter: allow setting dt in update call
2024-12-18 14:11:08 +01:00
9e9d352eb2
mavlink: update submodule
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MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
2024-12-18 07:12:36 +01:00
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
4db55cd25f
mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
d7904b5f2c
mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
a280d67be8
PID: Fix test to respect integral updates being applied in the next iteration
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
f9bcbc31ae
PID: protect from division by zero because of dt
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
e047972cde
Add new C++ PID library
2024-11-26 16:13:48 +01:00
2f65644aeb
mixer module: remove unused functions
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-21 11:57:50 -05:00
db13b9cb50
CollisionPrevention: Added Case where velocity gets reduced to zero if we are closer to the obstacle than the minimal distance
2024-11-21 11:36:03 +01:00
bbc59dcde7
CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message
2024-11-21 11:36:03 +01:00
1410325c62
CollisionPrevention: follow parameter variable naming convention
2024-11-21 11:36:03 +01:00
30eec33e09
CollisionPrevention: slightly simplify _transformSetpoint()
2024-11-21 11:36:03 +01:00
399a8ad5b7
CollisionPrevention: fix early return and use unified bin count + array size 72
2024-11-21 11:36:03 +01:00
f41a08aea8
CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change
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rewrite of obstacle_distance merging methods, and fix of various issues
2024-11-21 11:36:03 +01:00
b74dd57e7c
CollisionPrevention: restore rate limited warning for no data, minor cleanup
2024-11-21 11:36:03 +01:00
4c8c5fbb37
CollisionPrevention: only save quaternion and yaw on attitude update
2024-11-21 11:36:03 +01:00
001d722abd
CollisionPrevention: move main functions to the top in the order they get called
2024-11-21 11:36:03 +01:00
1fa76ac71d
CollisionPrevention: reduce internal array size, zero initialize what's possible
2024-11-21 11:36:03 +01:00
c879ca531d
CollisionPrevention: Clarify bin size definitions, move wrap functions into class
2024-11-21 11:36:03 +01:00
84dbbb4351
CollisionPrevention: clarify mode switch command to hold/loiter
2024-11-21 11:36:03 +01:00
chfriedrich98