421f13e4b5
ekf2: fix joseph covariance update for Schmidt-Kalman filter
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If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
2024-03-07 15:11:47 +01:00
1e253a9626
VTOL: treat Descend mode as Land ( #22843 )
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* vtol_type: enable pusher assist also in Descend mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* vtol_type: treat Descend as Land for pusher assist
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-07 10:22:25 +01:00
bb5efa5577
ICP201: increase config delay
2024-03-06 21:20:51 -05:00
1c741836c0
sensors/vehicle_imu: sensor update loop limit iterations
2024-03-06 21:19:38 -05:00
8b6c70e0f2
sensors/vehicle_angular_velocity: sensor update loop limit iterations
2024-03-06 21:19:38 -05:00
1fc38aab92
sensors/vehicle_air_data: sensor update loop limit iterations
2024-03-06 21:19:38 -05:00
2bf1eeb003
sensors/vehicle_acceleration: sensor update loop limit iterations
2024-03-06 21:19:38 -05:00
87960c04d8
mag_bias_estimator: sensor update loop limit iterations
2024-03-06 21:19:38 -05:00
d96970a2b9
sensor/vehicle_magnetometer: sensor update loop limit iterations
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- place upper bound to prevent looping indefinitely (high publish rate, etc)
2024-03-06 21:19:38 -05:00
c5835a48de
FW Position Controller: do not publish roll angle constrain warning in VTOL transition ( #22842 )
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* FW Position Control: some cosmetical changes
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* FW Position Control: disable roll constraining warning in VTOL transition
In transitions it is expected that the roll is constrained, and
instead of defining an aribitrary threshold let's rather disable
the user warning in that case.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* FW Pos C: define magic numbers for roll constraining warning as constants
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-06 15:51:54 +01:00
6f9a378247
yaw_est: force set gyro bias when at rest
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The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
2024-03-05 14:00:06 -05:00
67e68783cf
Update submodule gz to latest Tue Mar 5 12:39:22 UTC 2024
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- gz in PX4/Firmware (5f8f0213a807d327a30a7df05e58f7887cf936ab): https://github.com/PX4/PX4-gazebo-models/commit/222833656802532ec2271986a65fd198cfa48259
- gz current upstream: https://github.com/PX4/PX4-gazebo-models/commit/6b4ed09d1b495fbff663f098979cc046df013abd
- Changes: https://github.com/PX4/PX4-gazebo-models/compare/222833656802532ec2271986a65fd198cfa48259...6b4ed09d1b495fbff663f098979cc046df013abd
6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34 )
953e02b 2024-02-22 frede791 - add imu sensor model noise
2024-03-05 13:59:22 -05:00
d1ae242a91
v6x-rt: fix rover build regression
2024-03-05 10:21:41 -05:00
9cef834624
fmu-v6xrt: update px4board enables vtol
2024-03-05 08:18:44 -05:00
23a41299fa
mag calibration: minor cleanup ( #22830 )
2024-03-05 09:00:08 +01:00
0186d687b2
Add minimal Skynode RC13 config to the PAB manifest
2024-03-04 13:33:20 -05:00
d28653b605
nuttx: update apps
2024-03-04 13:32:36 -05:00
87d79aeb75
netman: generate default config if file doesn't exist
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ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist.
On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well.
2024-03-04 13:32:36 -05:00
1bd65f8beb
mantis-edu: remove duplicate RC define
2024-03-04 13:30:28 -05:00
e0b49afe81
bmp388: Driver print out start BMP390 identifier when detected
2024-03-04 02:05:37 -05:00
f02b44bec5
Update to latest sitl gazebo camera
2024-03-03 12:18:02 +13:00
28db3e1c8c
ekf2: update change indicator
2024-02-27 12:33:43 -05:00
e9d43015ce
ekf2: fix unit tests failing due to mag fusion changes
2024-02-27 12:33:43 -05:00
b46fc9a67d
ekf2 sensor_sim: set correct world mag field
2024-02-27 12:33:43 -05:00
b80f15f7b5
ekf2-mag_auto: always use mag 3D after takeoff
2024-02-27 12:33:43 -05:00
086656dc7f
FW Attitude Controller: fix manual yaw rate setpoint limit ( #22812 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-02-27 17:23:13 +01:00
051baec9c4
ekf2: allow wind dead-reckoning after manual position reset
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Reset velocity using airspeed and start navigating
2024-02-27 09:34:05 -05:00
2491548a0f
Jenkinsfile: correct typo, missing comma
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Introduced in
2c81c9fdea
2024-02-27 13:32:46 +01:00
18f96c16ce
fix gimbal driver for mavlink gimbal v2 input and AUX output
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The main problem was that during initial negotiation the client would
request the gimbal_manager_information from px4 but px4 would never send
it because in this configuration the device_compid was set to 0.
2024-02-27 09:53:25 +01:00
63495ddac3
geo: correct unit test
2024-02-27 09:05:39 +01:00
efbbd64ec0
fmu-v6xrt: Increase lpwork stack size
2024-02-26 14:01:56 -05:00
8001132d33
ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement
2024-02-26 12:32:59 -05:00
08a2a6c836
update EKF2 change indicator
2024-02-26 12:32:59 -05:00
d501d8e1d4
ekf2: use Joseph stabilized update in direct state observations
2024-02-26 12:32:59 -05:00
9d9766c6cf
ekf2: use Joseph stabilized covariance update
2024-02-26 12:32:59 -05:00
d988005216
Update injectxmlparams.py
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Add extraction of Boolean attributes in injectxmlparams.py.
2024-02-23 11:06:05 -05:00
5dfdf8c071
matrix: remove bold printing of diagonal elements
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As this was not working in NSH.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-02-23 11:05:09 -05:00
b2b7439060
ROMFS: respect kconfig for including romfs files (airframes, etc) ( #22571 )
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* ROMFS: respect kconfig for including romfs files (airframes, etc)
* ROMFS: only add R1 airframe with differential drive control
* ROMFS: adapt to differential drive module renaming
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-02-23 15:40:00 +01:00
37a40d3fc2
baro static pressure compensation tuning: remove dependency to baro bias
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`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
2024-02-23 10:07:13 +01:00
b405d75553
Added Zero Turn Lawnmower model ( #22717 )
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* Added Lawnmower airframe
* Update 5005_gz_lawnmower
Works all right
* Update 5005_gz_lawnmower
RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED
* Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com >
* Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com >
* Renamed 5005_gz_lawnmower to 4011_gz_lawnmower
also pulled latest GZ models hash
---------
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com >
2024-02-22 15:30:12 +01:00
4e3bd4f196
MAVSDK tests: shorten Position, Altitude control flights
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We get more than 5 meter away much quicker.
2024-02-22 15:29:13 +01:00
0cc4b41a51
MAVSDK test: Fix fly_forward_in_altctl() timing
2024-02-22 15:29:13 +01:00
f602228048
MAVSDK test: increase offboard position threshold
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This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
2024-02-22 15:29:13 +01:00
9b122adae4
Fix fly_forward_in_posctl() timing
2024-02-22 15:29:13 +01:00
1ec0ba4736
Added param system command to voxl2 slpi build
2024-02-21 11:54:02 -05:00
8da8b88a54
Fixed and added Qurt platform dsp_hitl driver
2024-02-21 11:54:02 -05:00
be08c57a0a
Changed order of service startup in SLPI DSP muorb since parameter library now needs work queues
2024-02-21 11:54:02 -05:00
a436a8f3b8
Fixed unresolved symbol error for qurt platform due to missing sbus library
2024-02-21 11:54:02 -05:00
5ad0e68d8e
Fix build error for Qurt platform in pab_manifest.c
2024-02-21 11:54:02 -05:00
f07eeaa776
Added special muorb startup ordering in px4_init for posix platform
2024-02-21 11:52:24 -05:00
bresch