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1293 Commits

Author SHA1 Message Date
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- Removing outdated comments and author lists.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 Agar
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 Dvořák
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
honglang
b60e59d9be msg: new sensor_hygrometer msg 2021-12-27 12:13:09 -05:00
Beat Küng
4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng
1901edf13c actuator_motors.msg: add reversible flags & implement in mixer_module 2021-12-24 20:06:13 -05:00
Matthias Grob
f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
marcojob
2cfe08b3b1 small typo in vehicle_local_position msg 2021-12-17 15:45:07 +01:00
Michael Schaeuble
5ad8b84dec Fix PPS based UTC timestamp in camera trigger and capture messages 
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
 2021-12-17 07:56:08 +01:00
Michael Schaeuble
ebb657bcf4 Fix camera trigger via MAVLink when camera capture feedback is enabled 
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
 2021-12-17 07:56:08 +01:00
Igor Mišić
72b1db4a63 pps_capture: implementation of pulse per second capture driver 2021-12-17 07:56:08 +01:00
Thomas Debrunner
eb69f15d3a health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message 
Add SYS_STATUS flag for parachute
 2021-12-14 09:41:12 -05:00
Beat Küng
f76086ffa1 microRTPS_agent_CMakeLists.txt.em: add install section 2021-12-10 09:03:08 -05:00
Matthias Grob
ddc6b6bc9c battery: move MAVLink specific handling out of battery class 2021-12-07 21:06:51 +01:00
Daniel Agar
8fbf79527f magnetometer allow setting initial calibration from bias if available and stable 2021-12-01 20:24:56 -05:00
alexklimaj
bfd5a90a5d UAVCAN Moving Baseline Working 
Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
 2021-11-30 15:59:08 -05:00
Matthias Grob
c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Beat Küng
a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng
21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng
6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Matthias Grob
3193b554ca Add optional preflight check for healthy MAVLink parachute system 2021-11-19 17:15:04 +01:00
Matthias Grob
43c529f294 Add MAVLink parachute system heartbeat detection 2021-11-19 17:15:04 +01:00
bresch
f751dd2242 FlightTask: set yaw_setpoint to NAN when yaw should not be controlled 2021-11-16 18:09:37 -05:00
Matthias Grob
91c48606ee battery_status: clearly define and handle zero remaining flight time 2021-11-15 15:44:02 +01:00
Matthias Grob
54f2e91775 battery_status: report remaining flight time in seconds 
This allows more accurate reporting and is compliant with the
MAVLink interface.
 2021-11-15 15:44:02 +01:00
Matthias Grob
7ec8dd9d23 vehicle_constraints: remove deprecated speed_xy constraint 2021-11-09 21:47:06 -05:00
bresch
d47f9f155a MC mixer: replace multirotor_motor_limits by control_allocator_status 
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix

MCRateControl: use control_allocator_status to get saturation info
 2021-11-09 10:35:10 -05:00
Matthias Grob
fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob
a593a51f05 Commander: fix mode initialization with RC 2021-11-09 16:05:25 +01:00
Matthias Grob
af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00