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15698 Commits

Author SHA1 Message Date
Beat Küng
04b1cbb423 vtol_att_control: standard: also do blending for FW controls 
So that the sum of the control is always 1.
 2022-10-04 09:54:11 +02:00
Silvan Fuhrer
6db92b4011 ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-04 07:51:25 +02:00
Zachary Lowell
4520186878
qurt: replacing qurt threads with pthread 2022-10-03 18:01:04 -04:00
bresch
4b687beb3b ekf2: remove old airspeed fusion code 2022-10-03 10:59:42 -04:00
bresch
299e6058e3 ekf2_test: test airspeed symforce vs sympy generated code 2022-10-03 10:59:42 -04:00
bresch
29ebef1f74 ekf2: migrate fuse_airspeed to SymForce 2022-10-03 10:59:42 -04:00
Daniel Agar
41cda14126 ekf2: add symforce code generation helper target 2022-10-03 10:59:42 -04:00
PX4 BuildBot
cf0cd4ebf2 Update submodule mavlink to latest Sun Oct 2 12:39:04 UTC 2022 
- mavlink in PX4/Firmware (65bd1fd4c000a7fa0de2a0e8dce1ba9b2a62fa86): c46af52326
    - mavlink current upstream: dda5a18ddb
    - Changes: c46af52326...dda5a18ddb

    dda5a18d 2022-09-28 WickedShell - Support a return to default speed for DO_CHANGE_SPEED (#1890)
4e04dbbf 2022-09-24 Hamish Willee - MAV_FRAME_BODY_FRD - match to implementations and sanity (#1894)
89a61214 2022-09-23 Hamish Willee - DO_CHANGE_SPEED - clarify lifetime of speed setting (#1892)
11414f88 2022-09-21 Søren Friis - Clarify swarm fields (#1891)
5cdf8b60 2022-09-08 Hamish Willee - HOME_POSITION - clarify local frame means NED (#1886)
551e3b49 2022-09-07 Julian Oes - Fix CI (#1888)
d99ee9b6 2022-09-07 Julian Oes - pymavlink: update submodule to latest master (#1887)
92d2a58d 2022-09-01 Hamish Willee - common.xml:TIMESYNC docs and extensions (#1878)
c424dc65 2022-09-01 Julian Oes - minimal: try to make component ID less confusing (#1876)
153939bd 2022-09-01 Hamish Willee - Fix typo MAV_CMD_DO_SET_MISSION_CURRENT
5043a1e0 2022-09-01 Hamish Willee - MAV_CMD_DO_SET_MISSION_CURRENT - allow mission resetting (#1870)
90aa7bfc 2022-08-31 Chikirev Sirguy - Update common.xml (#1815)
554ccadd 2022-08-31 Hamish Willee - common: OpenDroneID messages no longer WIP (#1882)
06448cf6 2022-08-24 Hamish Willee - MAV_ODID_ARM_STATUS entries update to naming convention (#1883)
ff649224 2022-08-18 Patrick José Pereira - Fix gibberish descriptions ualberta.xml (#1881)
11f4b236 2022-08-18 Hamish Willee - Mission item - document values for autocontinue (#1868)
fb8ac31b 2022-08-18 Julian Oes - development: remove MISSION_CHANGED (#1879)
76b794c2 2022-08-18 Julian Oes - common: extend MISSION_CURRENT (#1869)
1ae3edc4 2022-08-15 Andrew Tridgell - common: added OPEN_DRONE_ID_SYSTEM_UPDATE message (#1880)
aa25f4df 2022-08-11 Andrew Tridgell - common: added OPEN_DRONE_ID_ARM_STATUS (#1873)
 2022-10-02 10:53:00 -04:00
Silvan Fuhrer
9b3cb6c758
FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330) 
* FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body)

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

* FW Attitude controller: do manual control polling before attitude setpoint polling

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

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-30 13:45:20 +02:00
Beat Küng
64ae0049de mission: add support for NAV_CMD_DO_SET_ACTUATOR 2022-09-29 14:23:16 -04:00
Daniel Agar
a27aeb30bf mc_pos_control: fix trajectory setpoint copy 
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
 - we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
 2022-09-29 14:17:00 -04:00
bresch
20b46ad33f ekf2_test: test validity of local position when not at rest 
At rest, the zero velocity update keeps the local position valid all the
time. Deactivate it to be able to test the validity checks
 2022-09-29 14:16:36 -04:00
bresch
1914053db2 ekf2: synchronize z_valid and v_z_valid 
mc_pos_control doesn't handle all the cases at the moment
 2022-09-29 14:16:36 -04:00
bresch
f753b92cff ekf2: start fake pos fusion after dead-reckoning timeout 
Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
 2022-09-29 14:16:36 -04:00
bresch
bb790c9bec ekf2: add vertical dead-reckoning timeout check for height validity 2022-09-29 14:16:36 -04:00
Thomas Stastny
d3849c0265 welford mean: convert to matrix only template 2022-09-29 14:14:16 -04:00
Daniel Agar
d4e5876d4c vehicle_imu: only reset raw accel/gyro Welford mean periodically 
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
 2022-09-29 14:14:16 -04:00
Benjamin Perseghetti
f9522e831c
Gazebo Simulation Enablement (#20319) 2022-09-29 13:49:31 -04:00
Silvan Fuhrer
f89df9d986 VTOL: make const and return when either of mc or fw att sp isn't updated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer
fdcbabeb9e VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent 
Use a pitch of 0 to initialize the ramp otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer
9c5a423753 VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent 
This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer
97e3b76a2e VTOL: improve readability of VT_FWD_THRUST_EN param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Roman Bapst
20457c5e2e
position_setpoint: replaced loiter_direction integer by boolean (#20317) 
* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-29 11:06:10 +02:00
Ville Juven
59e86c490d Remove include <log.h> from defines.h 
The reason for this is that log.h includes drv_hrt.h which sucks in
half the project's include files with it, which causes strange build
issues
 2022-09-29 07:56:24 +02:00
Daniel Agar
1f7080a710 ekf2: extend sensor bias stability requirement 
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
 2022-09-28 10:40:52 -04:00
bresch
06f2004580 Mag: fix estimated bias save to calibration 
Clear the calibration at the end only otherwise everything gets erased
at the end of the first iteration of the outer loop
 2022-09-28 10:43:54 +02:00
Karthik S
70d73c8690
Advanced Plane Airframe for SITL Advanced Lift-Drag Plugin (#20207) 
* Changed sitl_gazebo to the advanced liftdrag plugin fork.

* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).

* Switched gazebo back to main branch, to avoid merge conflicts.

* Change simulator bridge back to what it was in main branch

* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)

* Changed SimulatorIgnitionBridge to match most recent main.
 2022-09-27 23:09:27 +02:00
Eric Katzfey
a5bfc3fbc2
Added a self test feature to the VOXL 2 muorb module (#20307) 
* Removed exit after dsp signature generation.
* First full test suite
* Cleaned up the muorb tests
* Improved VOXL 2 self test trigger in startup file
* Removed unneeded include file
 2022-09-26 16:25:24 -04:00
Daniel Agar
7bc79b491f sensors/vehicle_magnetometer: more granular in flight mag cal reset on parameter changes 
- if mag calibration parameters change only reset any inflight mag cal
for the corresponding magnetometer
 2022-09-26 12:42:32 -04:00
Silvan Fuhrer
2717137982 RTL params: remove some unnecessary param constraints 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-26 13:32:35 +02:00
Silvan Fuhrer
b0a7d206f3 RTL params: increase max of RTL_RETURN_ALT and improve description 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-26 13:32:35 +02:00
Charles Cross
cfdaba35cc Adds reset counter logic to EV height fusion 2022-09-26 11:48:18 +02:00
chris1seto
77fdce9f3c
drivers/rc/crsf_rc: update standalone driver for CRSF and direct support for lq/rssi (#20084) 
Co-authored-by: Chris Seto <chris1seto@gmail.com>
 2022-09-23 19:19:25 -04:00
chris1seto
86cddc6a52
fw_autotune_attitude_control : Add better support for RC TX control while in FW AT (#20069) 
Co-authored-by: Chris Seto <chris1seto@gmail.com>
 2022-09-23 19:17:51 -04:00
Eric Katzfey
d30ccb2b1d
initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT) 2022-09-23 12:03:05 -04:00
bresch
cddade2047 ekf2: use validated airspeed from airspeed sensor only 
don't use synthetic measurements to prevent circular dependency
 2022-09-23 09:26:47 -04:00
Junwoo Hwang
13d565d707 payload_deliverer: Add gripper state output to "status" CLI output 
- Previously it was hard to check which state the gripper was in
(GRAB/GRABBED/ etc), not even whether it was correctly initialized, this
commit adds that functionality
 2022-09-23 07:41:51 +02:00
Junwoo Hwang
e65d48c070 payload_deliverer: Fix Gripper unitialized message spamming 
- When the gripper was uninitialized, the error message popped up
everytime the module had 'any' vehicle command received. But we should
be spamming only when we do actually get 'DO_GRIPPER' command received,
this commit adds that feature
- Also converted error messages for CLI when gripper test functinality
fails, so that user would get a feedback (originally, the PX4_DEBUG was
of course not outputting everything)
 2022-09-23 07:41:51 +02:00
Daniel Agar
38d332a553
ekf2: inhibit accel bias dynamically when fake position/height fusion active 
- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
 2022-09-22 20:32:20 -04:00
Silvan Fuhrer
300288b57e FW Attitude Controller: fix polling of rate setpoint for tailsitter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-22 19:13:36 +02:00
Silvan Fuhrer
0df878bc18 Navigator: use NAV_FW_ALTL_RAD only for FW landings, not VTOL landings 
Also containst a mini refactor by removing the unnecessary function
get_default_altitude_acceptance_radius().

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-22 16:52:51 +02:00
Silvan Fuhrer
c6c7733587 FW Position control: add option to scale min airspeed wtih wind magnitude 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-22 16:39:27 +02:00
Beat Küng
e8ac9b266b px4events: add @skip-file tag 2022-09-22 09:42:39 -04:00
Daniel Agar
54c97db8b2 ekf2: fix covariance comment typo 2022-09-21 15:29:07 -04:00
Silvan Fuhrer
d7fab74727 VTOL: remove _flag_was_in_trans_mode from standard vtol (not used) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-21 14:18:43 -04:00
Silvan Fuhrer
828f629413 VTOL: remove some pwm hackery leftovers from legacy mixing systems 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-21 14:18:43 -04:00
Beat Küng
d948fcd72b fix control_allocator: check if 2. thrust and torque sp topic is valid 
Otherwise the 2. setpoint is equal to the first one. This is only an issue
if the 2. instance isn't advertised.
 2022-09-21 15:11:11 +02:00
RomanBapst
e41913a699 vtol_type: removed unused "was_in_trans_mode" function 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-20 16:50:07 +02:00
RomanBapst
2a6cd4a409 vtol_att_control: avoid using non-recent attitude setpoint during beginning 
of transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-20 16:50:07 +02:00
Silvan Fuhrer
13fc5918cc AirspeedValidator: keep data stuck test but only enable in FW mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-19 17:44:44 +02:00