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27175 Commits

Author SHA1 Message Date
Silvan Fuhrer
032ae69eee VTOL: remove _dt passing as it's no longer used (and was wrong) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-28 14:54:33 +02:00
Silvan Fuhrer
f8fe7c7aa3 VTOL Standard: fix transition pusher motor slew rate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-28 14:54:33 +02:00
Matthias Grob
dfee9ca4c6 MAVLink: remove never used _mavlink_link_termination_allowed 2024-05-28 10:41:00 +02:00
Silvan Fuhrer
42bca65cbf RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-27 12:03:16 +02:00
Silvan Fuhrer
b9d3b9f211 RTL_mission_fast: continue mission if RTL is triggered while in Mission 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-27 12:03:16 +02:00
Jacob Dahl
da35c4adce
cdcacm_autostart: handle USB power only (#23183) 2024-05-25 17:16:34 -06:00
bresch
ccbcbbe268 wind_est_replay: report scale instead of inverse_scale 
The estimator internally estimates the scale inverse, but the interface
should be the scale as "airspeed_corrected = scale * airspeed"
 2024-05-24 17:25:39 +02:00
Hamish Willee
4f64acb352
Docs for camera_feedback module (#23103) 
* Docs for camera_feedback module

* Update src/modules/camera_feedback/CameraFeedback.cpp

* Update src/modules/camera_feedback/CameraFeedback.cpp
 2024-05-23 08:44:34 +10:00
Beat Küng
e1ffc2cdaa commander: add check for 5V overcurrent 2024-05-22 09:34:04 +02:00
Konrad
664a0f2cda HomePosition: Add minimum position change needed to be recognised as new home position 2024-05-21 09:11:56 +02:00
Jacob Dahl
e72ecdbefb
drivers/imu: new Murata SCH16T IMU driver (#22914) 
---------

Co-authored-by: alexklimaj <alex@arkelectron.com>
 2024-05-20 14:38:19 -04:00
Jacob Dahl
70304fe715
[mavlink] Parameter to always start on USB (#22234) 
* usb: Added parameter to enable always starting mavlink on USB.

    Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on
    USB, also added a paramter to choose the mode. The current default behavior is to wait and listen
    for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink
    stream not starting until something else on the mavlink network sends a packet first. The new
    default behavior is to always start mavlink.

    Added parameters
    MAV_USB_ENABLE -- default 1 (always start mavlink on USB)
    MAV_USE_MODE -- default 3 (onboard)

* added 3 retries for opening serial port in mavlink, removed sleep before sercon

* added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board

* added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig

* format

* remove PGA460 from COMMON_DISTANCE_SENSOR to save flash

* remove LIS2MDL from COMMON_MAGNETOMETER to save flash

* disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board

* moved and renamed parameters, removed mode logic in mavlink

* changed parameter names, added mode none

* remove parameters from mavlink
 2024-05-20 12:35:29 -06:00
Peter van der Perk
6b0ac49daf hardfault_log: Add jump to 0x0 & write 0x0 faults 2024-05-17 14:43:23 -04:00
Peter van der Perk
ebfa53286f dronecan: SocketCAN driver check size before copying 
Avoids memory corruption if we get packets to big
 2024-05-17 14:39:52 -04:00
Daniel Agar
d359f6236e
ekf2: symforce zero more efficiently (#23133) 
- increase symforce CppConfig zero_initialization_sparsity_threshold so
   that a Matrix setZero() call is performed instead of individually zeroing

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-05-17 11:20:30 +02:00
bresch
ea39032b45 mag_ctrl: combine common conditions for mag_hdg and mag_3d 2024-05-17 11:19:04 +02:00
bresch
d796009302 mag_ctrl: do not fuse synthetic mag but do not zero the innovation 2024-05-17 11:19:04 +02:00
Daniel Agar
bb5dfc7d51 integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong) 2024-05-17 11:19:04 +02:00
Daniel Agar
5173830718 ekf2: mag fusion don't update all states or tilt by default 
- cleanup some of the legacy mag flags
 2024-05-17 11:19:04 +02:00
Daniel Agar
bfc39cf341 ekf2: mag control always populate estimator aid src 2024-05-17 11:19:04 +02:00
Daniel Agar
95ae5a657d ekf2: merge mag_3d_control + mag_control 2024-05-17 11:19:04 +02:00
bresch
b42799fac2 wind_est_replay: allow setting the initial scale factor 2024-05-17 09:17:08 +02:00
bresch
440465702e wind_est_replay: fix cov matrix format and data indexing 2024-05-17 09:17:08 +02:00
Hamish Willee
2e7a99ac41 VectorNav.cpp - fix docs link to usage guide 2024-05-15 11:07:50 -04:00
Konrad
17916b7fdc uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream 2024-05-15 11:07:01 -04:00
Julian Oes
b1b9c8fd99 gps: add note to param 
This notes the reference yaw angle for the Septentrio Mosaic-H.

It's unfortunately a bit tricky in that Unicore has the main antenna
in front by default while Septentrio decided to put the aux antenna in
front.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-05-07 21:15:44 -04:00
Benjamin Philipp Ketterer
5d025e6d3d increased uxrce-dds stack size to prevent overflow 2024-05-07 21:13:58 -04:00
RomanBapst
ca9cb2214f quadchute: fixed sign for handling altitude resets 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-05-07 16:01:09 +02:00
muramura
b5467d88f7 gps: Change the IF statement to a SWITCH statement 2024-05-07 15:58:15 +02:00
Konrad
6984e6da7f TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation 2024-05-07 14:20:07 +02:00
Konrad
f56f4c7033 TECS: enable specific energy weights to have a value up to 2 2024-05-07 14:20:07 +02:00
Konrad
f8a20e1964 TECS: increase airspeed control limit for fast descend 2024-05-07 14:20:07 +02:00
Konrad
6a789b54c6 TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle. 2024-05-07 14:20:07 +02:00
Beat Küng
e17faece3d mavlink_ftp: do not store reply on kErrNoSessionsAvailable 
This would interfere with an existing ongoing session
 2024-05-07 07:26:12 +02:00
Beat Küng
f002b08e6a mavlink_ftp: ensure there's enough space for the 2. path in _workRename 
Prevents accessing invalid memory when reading ptr + oldpath_sz + 1 and
oldpath_sz fills out the whole or N-1 bytes of the payload.
 2024-05-07 07:26:12 +02:00
Beat Küng
f16115d8be mavlink_ftp: handle relative paths correctly 
by ensuring there's a '/' in between when concatenating the path with
_root_dir.
 2024-05-07 07:26:12 +02:00
Beat Küng
9e6dcb1f60 fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset 
Regression from https://github.com/PX4/PX4-Autopilot/pull/23043

Also avoids a race condition by making sure the command ack is handled
before sending out the mavlink message (in case an external component
reacts immediately to the mavlink message).
 2024-05-03 06:59:55 +02:00
Alex Klimaj
36ea872e72
drivers: adis16507 reschedule reset after failed self test 2024-05-02 17:52:26 -04:00
Daniel Agar
224d6f2fa7 ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition) 2024-05-02 17:40:58 -04:00
Daniel Agar
c1fc893cca ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar
63c2ea33c1 ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar
1ca4056b6a ekf2: delete unused Ekf::resetImuBias() 2024-05-02 17:40:58 -04:00
Daniel Agar
6b3b66619b ekf2: move baro dynamic pressure compensation to aid_sources/barometer 2024-05-02 17:40:58 -04:00
Daniel Agar
4f0eb72fc9 ekf2: move IMU down sampler to imu_down_sampler/ 2024-05-02 17:40:58 -04:00
Daniel Agar
58637d3825 ekf2: move terrain estimator and derivation to terrain_estimator/ 2024-05-02 17:40:58 -04:00
Daniel Agar
58de8cbb77 ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/ 2024-05-02 17:40:58 -04:00
Daniel Agar
49c782bad9 ekf2: move bias estimators to bias_estimtor/ 2024-05-02 17:40:58 -04:00
Daniel Agar
e262fde4dc ekf2: move aux global position fusion to aid_sources/aux_global_position 2024-05-02 17:40:58 -04:00
Daniel Agar
b8d46e60a5 ekf2: move mag fusion to aid_sources/magnetometer 2024-05-02 17:40:58 -04:00
Daniel Agar
3f6c3e0649 ekf2: move output predictor to output_predictor/ 2024-05-02 17:40:58 -04:00