178ea132b6
Navigator: add set_gimbal_neutral() functionality
...
To point the gimbal forward eg during landing to reduce chance of damage.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 13:19:09 +01:00
fe7988672f
ekf2: auxiliary position fusion
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
aaefc36cad
airframes: remove 4900_crazyflie
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 09:43:41 +01:00
6c9af2e0ec
airframes: remove 4040_reaper
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 09:43:41 +01:00
6b4fca1b9d
px4vision configs: remove params that are just set again to default
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 09:43:41 +01:00
d85aaf4dfd
v5x/v6x: save flash by not compiling analog OSD by default
2023-11-30 17:16:02 +01:00
82c422b818
fmu-v5x: don't build roboclaw driver by default
...
it's not used that often and for rovers only.
2023-11-30 17:16:02 +01:00
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
d014d76ca7
HeadingSmoothing: set correct maximum heading
...
The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
2023-11-30 17:16:02 +01:00
5a2efc1cb2
GotoControl: remove dependency on PositionControl
...
It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
2023-11-30 17:16:02 +01:00
c853acc2ff
GotoControl: also provide maximum velocity to position smoother
2023-11-30 17:16:02 +01:00
d1e8bdbd16
GotoControl: rename yaw rate acceleration parameter
...
such that not only one letter differs to MPC_YAWRAUTO_MAX
2023-11-30 17:16:02 +01:00
dc7f9165d1
logged_topics: fix goto_setpoint name
2023-11-30 17:16:02 +01:00
3de6fee07f
GotoControl: make interface over uORB
2023-11-30 17:16:02 +01:00
96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
14b8afe972
PositionSmoothingTest: remove duplicate vector comparison
2023-11-30 17:16:02 +01:00
591845bb41
HeadingSmoothing: rename, simplify, add cpp
2023-11-30 17:16:02 +01:00
be05b3e8d7
helper_functions: include defines for M_PI_PRECISE
...
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
2023-11-30 17:16:02 +01:00
efb325d25d
motion_planning: remove deprecated separate test
...
It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
2023-11-30 17:16:02 +01:00
53076b9863
PositionSmoothing: guard division by zero
...
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
2023-11-30 17:16:02 +01:00
11cca72ef1
VelocitySmoothing: fix division by zero cases
...
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
2023-11-30 17:16:02 +01:00
6f295d91d1
Revert "motion_planning: sanitize inputs to position and velocity smoothing libs"
...
This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
2023-11-30 17:16:02 +01:00
14785eeb47
GotoSetpoint message: reorder flag directly before value
2023-11-30 17:16:02 +01:00
4b920a6628
GotoControl: add go-to control interface to mc position controller
...
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
e47aba8bc9
msg: add go-to setpoint interface
2023-11-30 17:16:02 +01:00
72a811a4b3
motion_planning: add heading smoother lib
...
wraps the velocity smoother, but is intended for generating smooth heading trajectories
handles angle wrap
2023-11-30 17:16:02 +01:00
80dd7e4806
motion_planning: sanitize inputs to position and velocity smoothing libs
2023-11-30 17:16:02 +01:00
f69636feef
fix msg: add_custom_command needs to depend on files instead of custom_command target name
...
This fixes incremental builds when msg files change.
Introduced with https://github.com/PX4/PX4-Autopilot/pull/21995 .
2023-11-30 10:36:39 -05:00
3b041ef8d4
empy version fixed to 3.3.4
...
Signed-off-by: frederik <frederik@auterion.com >
2023-11-30 10:07:27 -05:00
9d465615d1
src/drivers/sw_crypto: Fix buffer lengths for xchacha20 crypto
...
The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-11-29 20:56:00 -05:00
c2345ac5b3
Update world_magnetic_model to latest Wed Nov 29 11:14:09 UTC 2023
2023-11-29 20:55:05 -05:00
33a3e568bb
boards: update all NuttX defconfigs
2023-11-29 20:54:34 -05:00
afe110cca1
update all px4board kconfig
2023-11-29 20:54:10 -05:00
e627fe01dc
UXRCE_DDS_SYNCC default 0
2023-11-29 20:53:01 -05:00
42ce9eb692
mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded.
2023-11-29 11:10:40 -05:00
36f0c0f0bf
mavlink-mission: Add support for opaque ids and replace update counter with it
2023-11-29 11:10:40 -05:00
120e7fea8b
mavlink: update submodule including opaque ID
2023-11-29 11:10:40 -05:00
f00d97d974
removal of PX4_GZ_MODEL env variable and fix of ground glitching ( #22400 )
...
Removal of PX4_GZ_MODEL env variable and fix of ground glitching
Signed-off-by: frederik <frederik@auterion.com >
Co-authored-by: frederik <frederik@auterion.com >
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-29 09:08:04 +00:00
59abab8379
sensors: add parameter to silence imu clipping
2023-11-28 11:57:14 -05:00
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
...
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-11-28 11:04:02 -05:00
befbc19a4a
Roboclaw: Updated parameter prefix for roboclaw output module
2023-11-28 16:30:17 +01:00
c84185af96
Roboclaw: Fixed issue where parameters had different prefixes
2023-11-28 16:30:17 +01:00
9ce090f2da
Roboclaw: Fix CI pr issue
2023-11-28 16:30:17 +01:00
7c45093908
Roboclaw: Updated yaml file to support Roboclaw Driver in QGC
2023-11-28 16:30:17 +01:00
bea00f62c9
Roboclaw: Changes in r1 airframe, removed hardcoded port configurations
2023-11-28 16:30:17 +01:00
3a7f2f8bce
Roboclaw: Accidentally removed a parameter
2023-11-28 16:30:17 +01:00
de9074558b
Roboclaw: Updated Airframe and fixed left and right mapping error
2023-11-28 16:30:17 +01:00
09d30568ab
Roboclaw: Consistent Left & Right naming convertion with Differential Drive class
2023-11-28 16:30:17 +01:00
Silvan Fuhrer