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pr-max_z_speed
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27923 Commits
Author SHA1 Message Date
Mathieu Bresciani a187bb3b80 ekf2: predict covariance before predicting state (#20715) 
* To predict the covariance, the jacobian from the previous to the current state is required.
 2022-12-07 09:34:19 -05:00
Daniel AgarandPX4 BuildBot c12d9124bd Update submodule GPS drivers to latest Wed Dec 7 12:38:31 UTC 2022 
- GPS drivers in PX4/Firmware (4eb0a0598048df07c213659944b2720ee42e1cc2): https://github.com/PX4/PX4-GPSDrivers/commit/b49a6c257371abae6e26e0a3e0fc04b963b2f13d
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b49a6c257371abae6e26e0a3e0fc04b963b2f13d...b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2

    b76fc1d 2022-11-21 qst0528 - ashtech: fix position accuracy loss caused by misplaced integer cast (#118)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-07 09:16:31 -05:00
PX4 BuildBot b3cebc6686 Update submodule libevents to latest Wed Dec 7 00:39:06 UTC 2022 
- libevents in PX4/Firmware (ff161d5eca5ee3e605840dc05642984985fcbf5a): https://github.com/mavlink/libevents/commit/179f86a8fc7fd74cb80630e77b1b9435d3c5b748
    - libevents current upstream: https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677
    - Changes: https://github.com/mavlink/libevents/compare/179f86a8fc7fd74cb80630e77b1b9435d3c5b748...0c8bc543db2f8c78f59214d5bcf959bdadd96677

    0c8bc54 2022-11-07 Beat Küng - README: fix typo
ca1cce0 2022-11-04 Beat Küng - README: add note for usage of UNIT's
 2022-12-06 19:39:37 -05:00
Silvan Fuhrer 2b8295e30f FW Position control: switch from L1 to NPFG guidance by default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-12-06 12:54:58 -05:00
Zachary Lowell 91acd494a3 Qurt uORB communicator fixes (#20705) 
- there was an issue sending a message from slpi to apps. Seems the code was stuck in an loop and crashed when the message was sent from slpi to apps
 2022-12-06 10:33:19 -05:00
Thomas Stastny 2da10183f3 welford mean: remove old comments 2022-12-06 08:59:12 -05:00
Silvan FuhrerandMatthias Grob ac28c6b7e2 VTOL: take home_position into account for ground clearance (#20683) 
* VTOL: take home_position into account for ground clearance

For approximating distance to ground in case there is no valid distance sensor
data, subtract the home position altitude from the local position altitude.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-12-06 13:19:35 +01:00
bresch 8e3517fae0 DataValidator: fix unexpected failover 
Instead of always starting with instance 0 (potentially an internal
mag), first take the current sensor as reference to compare the other
ones against it.
The issue is that otherwise we can end up in a
situation where a switch occurs because the currently used sensor isn't
much better than a sensor with a lower index: because the selected one
isn't much better, we cannot "fail-over" to it and get stuck on another
sensor, triggering a fail-over.
 2022-12-06 08:16:23 +01:00
Thomas StastnyandDaniel Agar c5dc1221b6 failure detector: use multiplication instead of division 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2022-11-30 14:51:07 -05:00
Thomas Stastny 4e8381e8cf failure detector: negative guard sqrt in std dev calc 2022-11-30 14:51:07 -05:00
Thomas Stastny eb80e0410c failure detector: fix imbalanced prop metric time interval 2022-11-30 14:51:07 -05:00
Daniel Agar 89b81b0bd6 create Welford mean Vector with covariance and improve precision with Kahan summation (#20676) 
- WelfordMeanVector now computes covariance
 - use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
 - WelfordMean and WelfordMeanVector handle initial value and count roll over
 - Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
 - sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
    - fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
 - gyro_calibration: update Welford mean usage
 2022-11-30 14:50:13 -05:00
bresch 5155346d60 ekf2: do not use gnss data when no lock 2022-11-30 08:50:34 -05:00
Jaeyoung Lim 65577a4f89 Fix invalid offboard setpoints for fw pos control 
This commit fixes a regression that disables offboard control
 2022-11-30 09:14:57 +01:00
bresch 5d7faefa84 ekf2: don't add invalid GNSS samples to the buffer 2022-11-30 00:22:15 -05:00
Silvan Fuhrer 0c923bda4e FW Attitude Control: fix integral resetting 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-29 18:36:15 +01:00
Matthias Grob 9e776741d9 battery: allow for external state of charge injection 2022-11-29 09:27:50 +01:00
Matthias Grob babe93c3bf rc_update: adapt throttle trim calibration for [-1,1] 
This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
 2022-11-28 19:25:55 +01:00
Matthias Grob 331cb21dee manual_control_setpoint: change stick axes naming 
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.

I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.

While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
 2022-11-28 19:25:55 +01:00
Matthias Grob 83246c84cf Switch manual_control_setpoint.z scaling from [0,1] to [-1,1] 
To be consistent with all other axes of stick input and avoid future
rescaling confusion.

Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
 2022-11-28 19:25:55 +01:00
Matthias Grob 5579e319ff mavlink_receiver: refactor forgotten manual_control_setpoint naming 2022-11-28 19:25:55 +01:00
Matthias Grob aac05d7bcd Remove unmaintained rover_steering_control example 2022-11-28 10:02:04 +01:00
Matthias Grob a953167a6a Remove unmaintained uuv_example_app 2022-11-28 10:02:04 +01:00
Silvan Fuhrer 79c55614d8 FW PositionController: remove mavlink_log_pub, and only use events 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer bd176241f8 param translation: remove old param translations (more than 1 release back) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 3f773809c4 LaunchDetection: fix code style (name class members with trailing underscore) 
And also align parameter handle name to real parameter name.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 1d75138659 LaunchDetector: fix counter logic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 1400f81874 FW Pos C: rename LAUN_* param to FW_LAUN_* to be more explicit 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 5587a47471 Launch Detection: reduce user notification to info from warning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 5a1adab6fb FW Position controller params: flaring params slight meta data adjustments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 7fb70c55df FW Position controller: runway takeoff: track initial takeoff yaw if not in Mission Takeoff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 1b89f26691 FW PosC: remove hack to force _landed to false if (not)launch_detected, as it is now handles in land detector 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer df1cd4f147 LaunchDetection: code style changes and fix info message. 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer e6e2c889e0 FW Position controller: rename LAUN_ALL_ON to LAUN_DECTN_ON 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer c8129fd902 Launch Detection: add briefs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 59e5c68cb0 FW Position control: use yaw at launch detection as bearing setpoint during hand launch takeoff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer b2f21b956c FW Position control: move LAUN_ALL_ON param to FW Positon Control main params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 7691e3ff32 FW Land Detector: force to landed if currently landed and in launch process 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 90e1f98c57 FW Launch Detection: refactor state machine and pubish launch_detection_status message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 35da7f9bc4 Launch Detection: consolidate in single class (use the only existing method, catapult) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer b05878690d Launch Detector: remove LAUN_CAT_PMAX 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 5161165d85 FW land detector: expose trigger time in parameter (LNDFW_TRIG_TIME) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
Silvan Fuhrer 71835f57c9 FW land detector: reduce default for LNDFW_VEL_Z_MAX to 1m/s 
And remove 0.7 factor for airspeed-less flying for the vertical speed threshold.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-25 18:45:36 +01:00
benjinne 85e9c17a5e drivers/power_monitor: add TI INA220 driver (#20504) 2022-11-23 15:11:29 -05:00
bresch 7888cc8cfd GyroCalibration: update sensor correction before using it 
Otherwise, the thermal offset value can be outdated
 2022-11-23 13:24:43 -05:00
bresch dae37803da TC: erase current calibration when temp cal is completed 2022-11-23 13:24:43 -05:00
Matthias Grob d81ca65c6f rc_update: replace RC scaling with interpolate function use 2022-11-23 11:06:44 -05:00
Matthias Grob 9de3af1cbc Functions: interpolate brackets and spacing 2022-11-23 11:06:44 -05:00
Silvan Fuhrer 9cd3eae0aa Navigator: re-introduce min loiter alt, but only apply it for Loiters w/o a specified altitude setpoint 
Also applies to Loiters that are started due to the previous mode being over (Takeoff,
VTOL_Takeoff, Mission).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-22 13:46:25 -05:00
Thomas Stastny 263a1884b1 fixed-wing: explicitly define landing airspeed 
landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
 2022-11-22 13:46:25 -05:00