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27693 Commits
Author SHA1 Message Date
Matthias Grob 001d722abd CollisionPrevention: move main functions to the top in the order they get called 2024-11-21 11:36:03 +01:00
Matthias Grob 1fa76ac71d CollisionPrevention: reduce internal array size, zero initialize what's possible 2024-11-21 11:36:03 +01:00
Matthias Grob c879ca531d CollisionPrevention: Clarify bin size definitions, move wrap functions into class 2024-11-21 11:36:03 +01:00
Matthias Grob 84dbbb4351 CollisionPrevention: clarify mode switch command to hold/loiter 2024-11-21 11:36:03 +01:00
Matthias Grob 50ee5bd1b4 CollisionPrevention: Sanitize input of _getObstacleDistance() 
It could cause array out of bound problems before.
 2024-11-21 11:36:03 +01:00
Matthias Grob eb06ace8e4 CollisionPrevention: fix matrix namespace 
don't use it in header such that clients are free to redefine the names
but include it in cpp files and make use of that.
 2024-11-21 11:36:03 +01:00
Matthias Grob 079f3ca67c StickAccelerationXY: Simplify collision prevention call 2024-11-21 11:36:03 +01:00
Claudio Chies 0cd6a553b9 CollisionPrevention: rewrite for Acceleration based manual flight mode 2024-11-21 11:36:03 +01:00
PX4 BuildBot 2f8460da91 Update submodule mavlink to latest Wed Nov 20 13:16:31 UTC 2024 
- mavlink in PX4/Firmware (7e594e898b2281e7d3f6ef4057f1add829643058): https://github.com/mavlink/mavlink/commit/e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/0e420102dbdd7e9f59617dd00c05a2470f22eef2
    - Changes: https://github.com/mavlink/mavlink/compare/e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43...0e420102dbdd7e9f59617dd00c05a2470f22eef2

    0e420102 2024-11-20 David Sastre - development.xml: change OPERATOR_CONTROL id to 32100: (#2174)
01e0cc2f 2024-11-14 Hamish Willee - SMART_BATTERY_INFO - revert and renumber BATTERY_INFO (#2173)
 2024-11-20 22:33:21 -05:00
Julian Oes 7c507f136c bmp280: disable device filter 
It looks like the BMP280 was heavily filtered, leading to a step
response of around 3 seconds. Comparing it to baro logs of BMP388 and
MS5611, it looks very slow.

I therefore suggest to disable the on device IIR filter which makes the
log data look more like the other baros.
 2024-11-20 13:06:07 -05:00
Matthias Grob 3f83a8fa7a mavlink: remove reference to COLLISION message I had missed 
Should have been part of
b5d18c6131
 2024-11-20 13:02:59 -05:00
Marco Hauswirth a191e1e14e always allow disabling uncalibrated baro (#23782) 
* always set baro calibration id and prio param

* change to ParametersSave

* only save baro calib param if not calibrated
 2024-11-20 14:05:46 +01:00
Matthias Grob 53d920ea33 batteryCheck: fix enabling circuit breaker still causing battery failsafes 
Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
 2024-11-20 13:25:20 +01:00
somebody-once-told-me 3943025f32 Centralize yaw margin (#23982) 2024-11-20 09:52:36 +01:00
jmackay2 5b66a1eff1 Fix generate component regex escape sequence 2024-11-19 09:31:11 +01:00
S.W DevelishandJacob Dahl b955588b26 bugfix: NMEA GPS update rate was 0 since num_bytes_read was not being… (#23957) 
* bugfix: NMEA GPS update rate was 0 since num_bytes_read was not being updated

* Update gps.cpp

style fix

* make format

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2024-11-17 16:16:50 -09:00
PX4 BuildBot a85a9eccf7 boards: update all NuttX defconfigs 2024-11-15 21:14:12 -05:00
PX4 BuildBot 11fe5580cb Update submodule libevents to latest Sat Nov 16 00:40:14 UTC 2024 
- libevents in PX4/Firmware (1f29c55e82fa22b95313bb0d10b63918718f9c0c): https://github.com/mavlink/libevents/commit/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
    - libevents current upstream: https://github.com/mavlink/libevents/commit/9ef591c447fe0386d698bf6fb9a6d27e43988ee4
    - Changes: https://github.com/mavlink/libevents/compare/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c...9ef591c447fe0386d698bf6fb9a6d27e43988ee4

    9ef591c 2024-10-14 Beat Küng - pylint: increase max-positional-arguments from 5 to 7
7901a0c 2024-10-14 Beat Küng - pylint: update config (pylint version 14.2.1)
edc472e 2024-10-11 Beat Küng - refactor: change libevents to an INTERFACE library
 2024-11-15 21:12:18 -05:00
Silvan Fuhrer 08155d20f8 estimatorCheck: have low position warning as health component failure to fix reporting 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-15 15:32:53 -05:00
Silvan Fuhrer 3093c593a5 Commander: put action for low position estimation accuracy into parameter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-15 15:32:53 -05:00
Alexander Lerach b6daf83088 Un-inlined get_table_data 2024-11-15 12:01:06 -05:00
Alexander Lerach 6d0b7f7ed1 Un-inlined rotate_3 2024-11-15 12:01:06 -05:00
Patrick José Pereira bc8f98c9ad drivers/magnetometer/ak09916: Add support to AK09915 (#23909) 
The only difference between the ak09915 and ak09916 is the communication method

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2024-11-14 11:32:51 -09:00
Silvan Fuhrer f9c4c8b22c VehicleIMU: move setting of _notify_clipping from constructor to ParametersUpdate() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-13 12:10:48 -05:00
bresch ea1a6a327c flow: add scale factor parameter 2024-11-13 10:28:29 -05:00
Claudio ChiesandJacob Dahl d14c054149 SIM: MPC: add two x500 lidar airframes (#23879) 
* add two x500 lidar airframe, including the gazebo bridge for the lidar sensors and their orientation

* Update src/modules/simulation/gz_bridge/GZBridge.cpp

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* Update src/modules/simulation/gz_bridge/GZBridge.hpp

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* update submodule

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2024-11-13 08:44:19 +01:00
bresch 31bef770aa replay: do not fail on first ignored topic 2024-11-12 21:22:25 -05:00
Matthias Grob 651552c9b8 Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability 2024-11-12 21:21:40 -05:00
Matthias Grob 990811098b MulticopterRateControl: refactor torque setpoint naming 2024-11-12 21:21:40 -05:00
Daniel Agar a2156244d3 uxrce_dds_client: CMakeLists.txt cleanup 
- common variable for Micro-XRCE-DDS-Client
 - don't mix tabs and spaces
 - px4 module include all dependencies
 2024-11-12 21:20:54 -05:00
Matthias Grob b5d18c6131 Remove unused collision_report message 2024-11-12 21:18:57 -05:00
PX4 BuildBot 84ba95b496 Update submodule mavlink to latest Wed Nov 13 00:39:41 UTC 2024 
- mavlink in PX4/Firmware (a793ddeac49e4251b329fc35f6e066c8d1d9b8f8): https://github.com/mavlink/mavlink/commit/b4add5292992cc43bd471b431b425338787982be
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43
    - Changes: https://github.com/mavlink/mavlink/compare/b4add5292992cc43bd471b431b425338787982be...e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43

    e221d46d 2024-11-06 benjinne - add rc_type_crsf (#2162)
6ac99ca4 2024-11-06 Hamish Willee - Remove the imported headers for everything except common.xml (#2166)
5f7fe504 2024-11-06 David Sastre - development.xml: First prototype for multi-GCS operation. (#2158)
 2024-11-12 21:17:32 -05:00
João Mário Lago b7d1698433 drivers: magnetometer: mmc5983ma: Add SPI support (#23925) 2024-11-12 10:21:58 -09:00
RomanBapst 2f69f3fc2e mode_requirements: require only relaxed local position for auto land, in order 
to enable auto land with optical flow

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-11-12 15:24:25 +01:00
Alexander Lerach 1b3f50ef42 Added interrupt pin selection to BMI088 (#23926) 
* Added interrupt pin selection to BMI088

* Fixed typo
 2024-11-12 13:26:59 +01:00
chfriedrich98 233963b2d5 ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params 2024-11-11 16:40:27 +01:00
chfriedrich98 0ee580f139 ackermann: fix PID implementation 2024-11-11 16:40:27 +01:00
chfriedrich98 4f00df60ae differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning 2024-11-11 14:44:10 +01:00
Alexander Lerach fbbfcdb7a6 uxrce_dds_client - Fix nullptr access in certain cleanup situations (#23913) 
* Only close initialized objects

* Added err log in case of no ping

* Added err log in case of timesync timeout
 2024-11-11 14:23:46 +01:00
Alexander Lerach 3e3151c047 Avoid septentrio setting wrong time (#23920) 2024-11-11 13:03:13 +01:00
Alvaro FernandezandSilvan Fuhrer 079b756f1b VTOL: Added position feedback to backward transition braking controller(#23731) 
Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of 
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.

* vtol_type: added position feedback to backward transition

* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation

* FlightTaskTransition: minor improvements

* FlightTaskTransition: use .dot() consistently and remove unnecessary comments

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-11 11:53:28 +01:00
Alexander Lerach f47719d397 Manual idle current setting (#23914) 
* Added param to overwrite analog idle current measurement

* Fixed topic handling
 2024-11-11 11:40:30 +01:00
Andrew BrahimandJacob Dahl 834af98992 uavcan: support GNSS heading from relposheading with offset configurable in estimator 
* uavcan: add GNSS heading from relposheading
* ekf2: new EKF2_GPS_YAW_OFF parameter to configure any offset in GNSS heading

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2024-11-08 21:52:55 -05:00
bresch 651675fed0 ekf-yaw-est: do not store full S_inverse 2024-11-07 11:37:56 -05:00
bresch 7b04ea0dca ekf-yaw-est: wrap_pi when updating yaw 2024-11-07 11:37:56 -05:00
bresch 3ad4b57315 ekf-yaw-est: do not reset when all weights collapse 
The likelyhood can be really small when the innovation is suddenly
large. This can occur during a GNSS velocity glitch and shouldn't reset
the filter as it would bring it back to a really vulnerable state.
 2024-11-07 11:37:56 -05:00
Julian Oes d8be547b06 mavlink: drop acks early that aren't for us 
This fixes an issue where we dropped acks that we should have sent out
just because the queue was clogged with acks that have nothing to do
with us and just happen to be sent to us. We should just ignore them and
not publish them to uORB.
 2024-11-07 17:10:05 +13:00
Julian Oes 25e071e21d mavlink: no acks for commands that aren't for us 
We should not send out acks for commands that are not targetted at us.
This can confuse other MAVLink components and MAVLink commands just
don't scale that way, and it unnecessarily fills up our ack queue.

This was likely introduced to debug when MAVLink components were
implemented incorrectly sending commands to a wrong target.

The most we should do in this case is to print/log an info.
 2024-11-07 17:10:05 +13:00
Peter van der Perk a7e4000861 rgbled_pwm: Change linker so we can make board specific override for led functionality 2024-11-06 17:28:35 -05:00
Claudio Chies 04b6412731 fixed the Parameter value so it corresponds to the DistanceSensor rotation enum 2024-11-06 16:22:11 +01:00