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Author SHA1 Message Date
Pedro-Roque ef41cd8aee Merge remote-tracking branch 'origin' into pr-metric-allocation 2025-01-15 10:57:09 +01:00
Jaeyoung Lim 974446c0e8 Make control allocation and actuator effectiveness a non-module-specific library (#24196) 
* 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
Minderring 3064a4ad4c boards configs: add airspeed driver for micoair743 aio and v2 2025-01-14 21:45:49 -05:00
PX4 BuildBot 9f8325e8e0 Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025 
- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): https://github.com/mavlink/mavlink/commit/5e3a42b8f3f53038f2779f9f69bd64767b913bb8
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/619947d8bc29e80eecff18b0f4fecc42d9e171dd
    - Changes: https://github.com/mavlink/mavlink/compare/5e3a42b8f3f53038f2779f9f69bd64767b913bb8...619947d8bc29e80eecff18b0f4fecc42d9e171dd

    619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#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 
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
Ramon Roche 0723f75993 ci: move to px4 git tag versions 2025-01-14 13:10:56 -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 b584f8381c Helicopter defaults: don't auto disarm so quickly after spoolup 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
Matthias Grob 50092a7f67 NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged 2025-01-14 10:32:00 +01:00
alexklimaj e89a79b382 boards: disable multi ekf on all ark flight controllers 2025-01-14 02:29:07 -05:00
Silvan Fuhrer a16f7859ac boards: disable CONFIG_EKF2_AUX_GLOBAL_POSITION on some boards 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
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) 
* 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. 
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 
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
Pedro-Roque 2bfbfd1652 rft: roll this back for now 2025-01-10 20:52:17 +01:00
Pedro-Roque cef174268a fix: rollback standard modules 2025-01-10 20:48:07 +01:00
Pedro-Roque 4a5bf23c80 feat: add effectiveness of thrsuters and rotors to lib 2025-01-10 20:00:33 +01:00
Pedro-Roque dbe022df20 feat: add metric allocation 2025-01-10 19:34:57 +01:00
Jaeyoung-Lim 216762d402 Copy control allocator to add metric allocator module 
Remove subdirectories

Remove
 2025-01-10 18:26:04 +01:00
Jaeyoung-Lim 8e1f8da60f Remove test dependency for now 2025-01-10 18:22:37 +01:00
Jaeyoung-Lim dac5ae050f Separate vehicle specific actuator effectiveness 
Keep actuator effectivenss in control allocator
 2025-01-10 18:14:35 +01:00
Jaeyoung-Lim a164aa7be8 Remove more circular dependencies with ActuatorEffectiveness 2025-01-10 17:28:10 +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) 
* 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) 
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 
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
bresch ab70ae3252 ekf2: fix GNSS drift false alarm 
In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The
issue is that saturating such a signal creates an artificial bias. This
made the check fail as the bias was above the threshold.
 2025-01-08 21:40:25 -05:00
Peter van der Perk e9536cb30b Tropic-community use flash as storage using LittleFS (#24158) 
* Update NuttX
 2025-01-08 21:35:08 -05:00
Matthias Grob b042f2101f system_params: clarify SYS_HAS_MAG description 
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
mahimayoga c3e370b946 MC land detector: fix parameter description for LNDMC_ROT_MAX 2025-01-08 18:03:35 +01:00
mahimayoga b4273bde25 FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX). 
Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.
 2025-01-08 18:03:35 +01:00
mahimayoga 18b4b18a75 FW land detector: do not check for groundspeed if invalid. 
In case the local position speed estimate is not valid, it is assumed to be 0m/s and
thus check always passes.
 2025-01-08 18:03:35 +01:00
alexklimaj 2625c5211b dronecan: don't init if can interface fails to init 2025-01-08 11:12:57 -05:00
Silvan Fuhrer 585e5d1482 MissionBase: remove unused param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer d98a706380 RTL fast reverse: enable precision landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer 368bbfeb3b RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer e29c86c81f rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer 0ecc8278b6 Navigator: RTL_direct: onyl start precision land if param is set to enable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
RomanBapst 1abc27dd1f remove fixed-wing condition from airspeed fusion condition 
- enables airspeed fusion to begin during transition already
- airspeed fusion is started based on airspeed being above defined threshold

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-07 16:19:33 +01:00