fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-12 22:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
48,513 Commits 852 Branches 161 Tags
src_driver_instructions
Commit Graph
1770 Commits
Author SHA1 Message Date
Silvan Fuhrer 2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Matthias GrobandMathieu Bresciani 57a0289627 trajectory_setpoint: correct comment typo "kinematically" 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-12 17:19:48 +02:00
Matthias Grob 4017f4bb0b vehicle_local_position_setpoint: reorder fields for clarity 2022-05-12 17:19:48 +02:00
Matthias Grob 8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Alessandro Simovic 20ccfbb719 control_allocator: remove failed motor from effectiveness 
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
  recomputing the scale / normalization
 2022-05-12 07:58:56 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Beat Küng dfd934fbdb esc_report: add actuator_function 2022-05-12 07:58:56 +02:00
Beat Küng 32402f31df control_allocator: increase max num motors to 12 2022-05-10 08:57:39 +02:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer 21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] 
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Beat Küng efdf5b8fce vehicle_{thrust,torque}_setpoint.msg: fix comment 2022-04-28 19:51:28 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Alex Mikhalev 45dff7f71a commander: Add prearm check for flight termination 2022-04-25 11:57:37 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
bresch d903613c9c ekf: add logging for rng kinematic consistency check 2022-04-13 11:41:48 +02:00
bresch 8693ad15a7 ekf: add logging of range finder consistency check 2022-04-13 11:41:48 +02:00
Matthias Grob 6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
RomanBapst b335710655 vehicle_command: added enum for speed types 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Junwoo Hwang 35613df210 uORB : Don't automatically include message name as default topic name in uORBTopics source files, to handle case where user doesn't use default messgae name for multi topic definition in .msg file 2022-04-13 09:08:51 +02:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Igor Misic 80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Hovergames 457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
Daniel Agar 84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Silvan Fuhrer a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Silvan Fuhrer c30f2b9493 vehicle_status_flags.msg: remove unused condition_system_returned_to_home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Daniel Mesham 06a9be74fa microdds: add xrce client 2022-03-22 09:01:05 +01:00
JunwooHWANG 04f8453f4a Reduce Beeepr Default volume : 40 -> 20, since it's too loud for TAP_ESC devices from Yuneec (#19311) 2022-03-11 10:27:57 +01:00
Beat Küng 9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00
Daniel Agar 1d7791dad6 commander: monitor GPS validity and EKF2 dead reckoning 
- ekf2: expose dead reckoning as control status flags
 - commander:
    - add GPS validity check
    - in AUTO MISSION if dependent on GPS then a loss of GPS will
 2022-02-22 09:46:21 -05:00
Daniel Agar 591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00
Daniel Agar e0a8d217fc mavlink increase HEARTBEAT timeout 1.5->2.5s 
- tolerate missing one HEARTBEAT + jitter
 2022-02-18 10:16:20 -05:00
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
 2022-02-15 14:56:57 +01:00
bresch 5818974f0f ekf: add range finder "faulty" status 
When delclared faulty, the range finder cannot be used anymore
 2022-02-11 10:57:45 -05:00
Julian Oes 39f0e97245 vmount: refactor for v2 auto input, test command 
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.

The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
  parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
  polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
  rather than only the v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes f2216dff55 mavlink: don't send gimbal_device_attitude_status 
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
 2022-02-07 19:21:15 -05:00
Daniel Agarand: bresch f3e2a197ad move vehicle at rest detection ekf2 -> land_detector 
- move vehicle at reset detection ekf2 -> land_detector
 - ekf_unit: reduce init period
   - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
 - ekf_unit: reduce minimum vel/pos variance required after init
   - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.

Co-authored-by:: bresch <brescianimathieu@gmail.com>
 2022-02-01 17:50:19 -05:00
mcsauder e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
Daniel Agar 90358f078f add odometry reset counter (ekf2, mavlink, etc) 2022-01-31 09:19:36 -05:00
CUAVmengxiao 425d03d909 msg: Add full_charge_capacity_wh 2022-01-26 13:44:48 -05:00
Roman DvořákandVit Hanousek c8349811d1 Enable logging of mavlink tunnel messages 
Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
 2022-01-26 11:10:43 -05:00
Thomas Stastny 3b6c9448aa npfg: fix format CMakeLists 2022-01-14 22:05:53 +01:00
Thomas Stastny 082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00
Claudio Micheli 8a01135a93 Commander: more changes to use events with escs and battery failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Claudio Micheli d122513197 extend support for Battery status message 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Julian Oes 9fe7a40673 manual_control: enable sending camera commands 2022-01-10 23:04:10 -05:00
Julian Oes 860b23dd17 tunes: add tune to power off 
This is used by the ATL Mantis EDU to help the user realize when the
drone is powered off.
 2022-01-10 23:04:10 -05:00
Daniel Agar e731fcdbc0 sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00