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Author SHA1 Message Date
Daniel Agar 57b3c26ab0 Tools/simulation/gz: load ApplyLinkWrench plugin by default (#21874) 
- this can be useful for applying arbitrary forces via ignition transport like hand launching a vehicle by throwing it in the air
 2023-07-23 11:05:51 -04:00
bresch 1d96de5cf6 ekf2: add more unit tests for GNSS stopping control logic 2023-07-21 14:53:58 -04:00
Theotime Balaguer e195a3c0c6 fix issue #21727 2023-07-21 13:13:56 +02:00
Jukka Laitinen 485ec14246 px4_init.cpp: Properly check the return value of mounting procfs 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2023-07-21 07:30:15 +02:00
Matthias Grob 6889443bd7 temperature_compensation: use snprintf instead of sprintf 
because sprintf is deprecated on MacOS
and CI fails with warning -> error:

'sprintf' is deprecated: This function is
provided for compatibility reasons only.
Due to security concerns inherent in the
design of sprintf(3), it is highly
recommended that you use snprintf(3) instead.
 2023-07-20 13:18:45 +02:00
Junwoo Hwang a37e3e7b06 Compile Targets Actions: Buildalso on stable, beta, release branches (#21866) 2023-07-19 19:17:04 +02:00
Matthias Grob ce8dd2ba48 deploy_all: add git ownership workaround 
See
a6d2c2cf5e
 2023-07-19 19:09:13 +02:00
Matthias Grob 0c2a8266bc CI: use the same container versions consistently 
I updated all versions to the newest one that's used anywhere.
Then at least the straing can be found with full text search.
It's another step towards understanding and unifying the CI environment.
 2023-07-19 07:46:45 -07:00
Matthias Grob 39ab1f5809 generate_board_targets: use current version of each container 
to consistently use container versions and fix the beaglebone build
in metadata deployment CI.
 2023-07-19 07:46:45 -07:00
Matthias Grob 013856fac1 generate_board_targets: explicitly specify build containers 
in order to have the right container version for each toolchain
currently for the metadata deployment GitHub actions build.
 2023-07-19 07:46:45 -07:00
Daniel Agar ec9dce2e89 Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023 
* Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
* [AUTO COMMIT] update change indication


Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-18 14:29:08 -04:00
PX4 BuildBot 70826c5af4 update all px4board kconfig 2023-07-18 14:28:21 -04:00
PX4 BuildBot db591f25a6 boards: update all NuttX defconfigs 2023-07-18 14:27:37 -04:00
PX4 BuildBot 3f1740cb46 Update submodule sitl_gazebo-classic to latest Tue Jul 18 17:04:39 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (a3f398943e): https://github.com/PX4/PX4-SITL_gazebo-classic/commit/0d53638452e6da4371c12599e1a649608361811e
    - sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/c8ac7ff39b694832a3eee6ab568058c145f42c6f
    - Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/0d53638452e6da4371c12599e1a649608361811e...c8ac7ff39b694832a3eee6ab568058c145f42c6f

    c8ac7ff 2023-07-18 Martina Rivizzigno - Add gimbal device id to mavlink messages DeviceAttitudeStatus and DeviceInformation (#994)
 2023-07-18 14:26:35 -04:00
Daniel Agar b4687c27fe Jenkinsfile-compile board updates 2023-07-18 13:53:32 -04:00
Ramon Roche a3f398943e ci: update macos runner 2023-07-18 11:45:41 -04:00
Martina Rivizzigno 7f78ae449a update submodule mavlink to latest Thu Jul 6 10:14:36 2023 
* remove MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET because removed from message def Auterion/mavlink@1c9949e
 2023-07-18 11:37:32 -04:00
Beat Küng 8b780f2a96 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:13:16 -04:00
henrykotze b405a1aa49 advertise esc_status where is publishes 
- esc_status is an optional logging topic resulting in it not being
logged if it doesn't get advertise -> Add advertise where applicable
 2023-07-18 09:23:36 +02:00
Daniel Agar 45968c614e airspeed_selector: fix aspd typos 2023-07-17 20:37:46 -04:00
Daniel Agar c0a56ce268 airspeed_selector: fix groundspeed typos 2023-07-17 20:37:46 -04:00
bresch f5fd369ce8 [AUTO COMMIT] update change indication 2023-07-17 13:43:18 +02:00
bresch 1128ada90a ekf2: use correct AlphaFilter for 3D rotations 2023-07-17 13:43:18 +02:00
bresch 15bb8c0f2e AlphaFilter: add unit tests for Rot3 filtering 2023-07-17 13:43:18 +02:00
bresch c6aa82441f AlphaFilter: add quaternion specialization 
Filtering 3D rotations require special care as they live on a curved space.
 2023-07-17 13:43:18 +02:00
Silvan Fuhrer 88c5565a29 Commander: remove COM_ARM_ARSP_EN 
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer decf1ac0a8 Commander/Nav params: clean up descriptions 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer 351f2a8287 VTOL: remove VT_B_DEC_FF 
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer 8fe5ce4f65 VTOL: param description clean up 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Beat Küng 327b7e611e boards/px4/fmu-v5/test: disable modules to reduce flash 2023-07-14 07:51:01 +02:00
Beat Küng 4a18baa4bd boards/mamba-f405-mk2: disable ekf components to reduce flash 2023-07-14 07:51:01 +02:00
Matthias Grob 83b832fdce ManualControl: fix case where mode switches unintentionally in air 
Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.

I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
 2023-07-13 12:00:35 +02:00
Matthias Grob 2235c40e28 ManualControl: add functional test for switch behavior 
Using the established interface processInput() function.
 2023-07-13 12:00:35 +02:00
Matthias Grob 877f37d79e ManualControlSelector: add parentheses in condition for clarity 2023-07-13 12:00:35 +02:00
Matthias Grob b19b0d0163 ManualControl: separate switches logic function + reset fix 
Fix the previous switches initialized flag getting reset when no RC was
present or in use. This was found during functional testing.
 2023-07-13 12:00:35 +02:00
Matthias Grob 3b2b60adde ManualControl: put input processing in separate testable function 2023-07-13 12:00:35 +02:00
Matthias Grob 8dc73c4621 ManualControl: correct manual control input subscription name 2023-07-13 12:00:35 +02:00
Matthias Grob 258fc786dc ManualControl: put parameter update into separate function 2023-07-13 12:00:35 +02:00
Matthias Grob 17535c288c ManualControl: correct CMake module definition 
modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
 2023-07-13 12:00:35 +02:00
Matthias Grob 632596c1ea FlightTask: correct header comments 2023-07-13 12:00:35 +02:00
Matthias Grob 618724b409 Functional gtests: remove unnecessary subscription updates 
A new subscription is updated on instanciation and no additional
update needs to be called for processing the first sample.
 2023-07-13 12:00:35 +02:00
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00
henrykotze f82785a322 CAN Filters for STM32H7 & bus-off handling 2023-07-12 11:56:37 -04:00
Loic Fernau f8c9be087b drivers: rework NXP UWB driver (#21124) 
* UWB driver rework that uses 2 UWB MKBoards - 1 as Controller (Initiator), one as Controllee (Anchor)

Co-authored-by: NXPBrianna <108274268+NXPBrianna@users.noreply.github.com>
 2023-07-12 11:44:23 -04:00
Matthias Grob 715a1ff701 Jenkins, docker_run.sh: use Debian 11 armhf container 
also for the other linux target builds. It's a follow up to
e5503480e3
I wasn't aware that there are multiple different
container versions used for almost the same build.
 2023-07-11 17:49:36 +02:00
bresch 9ebfed010f mag_cal: increase uncertainty of calibration parameters 
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
 2023-07-11 11:33:53 -04:00
bresch 9e2e888f5e ekf2-bias_cal: reduce required stability period 
For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
 2023-07-11 11:33:53 -04:00
bresch 2f52926972 mag_cal: fix mag bias estimate to mag cal 
- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
 2023-07-11 11:33:53 -04:00
alexklimaj 69aa8689c0 Revert "rover_pos_control: thrust normalization for joystick input (#20885)" 
This reverts commit 22f7d913bd.
 2023-07-11 08:25:50 -07:00
bresch f5edff2647 ekf2 - preflt checks: scale flow innovation checks 
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
 2023-07-11 08:18:32 -07:00