fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 11:40:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
42,376 Commits 852 Branches 161 Tags
0ae4ed5d3b5604a57fbaf1781826c943294f16ea
Commit Graph

26079 Commits

Author SHA1 Message Date
Daniel Mesham 6cd29858a0 fake_ev: publish fake visual odometry on a distinct topic 2023-06-09 11:55:15 +02:00
bresch 3e4e4b8561 ekf2_ev: do not reset learned bias 
When ev resets without GNSS currently active, still consider the
position bias that was learned so far (GNSS fusion was maybe used in the
past and a meaningful bias was esimated).
 2023-06-05 16:10:14 +02:00
bresch 4bb2c6e758 ekf2: select estimator instance manually using RC channel 2023-06-02 10:16:00 +02:00
bresch 52401ea5b8 ekf2: enable creading multi-ekf with different configs 2023-06-02 10:16:00 +02:00
bresch c1e1026734 fake EV: add param to enable, drift and stale data 2023-06-02 10:16:00 +02:00
bresch 704bd22bc1 fake_ev: add module that publishes fake ev data based on GNSS 2023-06-02 10:15:24 +02:00
Silvan Fuhrer 3c9108e11e Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch 
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:24 +02:00
Silvan Fuhrer 25535b49d1 FW Att/Rate controller: move max attitude params to Att Controller params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:24 +02:00
Silvan Fuhrer fce25e6a07 FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:24 +02:00
Silvan Fuhrer fa38b1ad5c TECS: init _velocity_control_traj_generator properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:24 +02:00
bresch 20ab4ccaca MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-06-02 10:15:24 +02:00
Silvan Fuhrer a15b0d3c6a VTOL: adapt VT_QC_T_ALT_LOSS param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Silvan Fuhrer 7273398f2b VTOL: only run front transition alt loss QC if altitude is controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Silvan Fuhrer d88de8ea38 VTOL: extend front transition QC to first 5s after completing transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Silvan Fuhrer 473be910f2 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Silvan Fuhrer b17f73584d VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
JaeyoungLim 144a5c2e14 Fix tailsitter control frames (#21573) 2023-06-02 10:15:23 +02:00
Silvan Fuhrer 4a54c0cc74 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Beat Küng 589ba5589d ROS2 sdk: add config overrides 2023-05-10 11:29:30 +02:00
Beat Küng f82ce63f78 ROS2: add modes SDK 2023-05-10 11:29:30 +02:00
Beat Küng e018bd09da WIP commander+mavlink: implement MAVLink standard modes 
# Conflicts:
#	src/modules/mavlink/mavlink
 2023-05-10 11:29:30 +02:00
Beat Küng 66d5315e8f commander: add config overrides 2023-05-10 11:29:30 +02:00
Beat Küng c99330e6db commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-05-10 11:29:30 +02:00
Beat Küng af62227a83 commander: implement external modes and mode executors 2023-05-10 11:29:29 +02:00
Silvan Fuhrer ab71ef4447 FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Morten Fyhn Amundsen 04c5d70588 matrix: Describe emult, edivide functions 2023-05-09 16:14:55 +02:00
Silvan Fuhrer 4cd078409d AirspeedValidator: disable innovation checks if lpos invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-08 21:46:45 -04:00
Mathieu Bresciani 1e4fcfc614 mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
Thomas Debrunner da14650aa2 ads1115: Probe for reset value before init, do not spam console on device lost 2023-05-08 16:47:34 +02:00
Julian Oes 636c3c069f gimbal: make device ID a clear out argument 
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-08 07:06:37 +02:00
muramura 3c45b184d3 gps: Improve the FALSE setting of the ALREADY_COPIED variable 2023-05-08 07:04:11 +02:00
Julian Oes ddfc2986dc mavlink: flow control param needs reboot 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-07 21:48:27 -04:00
alexklimaj 000a3c10e2 Add ADIS16507 params 2023-05-06 17:11:42 -04:00
alexklimaj b12f5c4e31 adis16507 group delay should be subtracted from timestamp_sample 2023-05-06 17:11:42 -04:00
Silvan Fuhrer d2ca763d23 Navigator: set cruise_speed to default on entering new mode (#21503) 
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-05 15:53:17 +02:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
Julian Oes 1d4b66fcbc gps: use all injection data 
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 2fd3de8f45 gps: retry switching RTCM injection more often 
I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 6108b31e6a gps: reset RTCM instance 
We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.

Therefore, this change fixes the logged RTCM instance.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
David Sidrane b6f19d5e9b Added is31fl3195 LED Driver 2023-05-02 10:50:24 -04:00
David Sidrane 409c1bbf7a PX4 icm42688p:Add Support for the ICM42686 
icm42688p:Fix colission on custom1 from rebase
 2023-05-02 10:50:24 -04:00
SalimTerryLi 7eb6535273 driver/rc/crsf: fix print format for Linux platform 2023-05-01 17:36:26 -04:00
PX4 BuildBot 2a93875a5f Update submodule libevents to latest Mon May 1 12:39:12 UTC 2023 
- libevents in PX4/Firmware (406dc9b62627aec0c14df2d1e6d09b849f12487f): https://github.com/mavlink/libevents/commit/48911e7be752a908a15d945b796ed8d8282b7b02
    - libevents current upstream: https://github.com/mavlink/libevents/commit/a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35
    - Changes: https://github.com/mavlink/libevents/compare/48911e7be752a908a15d945b796ed8d8282b7b02...a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35

    a9a3fc0 2023-03-31 Beat Küng - README: update link to initial design doc
fb630b3 2023-03-30 Beat Küng - pylint: fix 'Raising too general exception' errors
72108eb 2023-03-29 flickering-light - Unused content variable fix
 2023-05-01 13:40:00 -04:00
PX4 BuildBot e8d12e26c2 Update submodule mavlink to latest Mon May 1 12:39:14 UTC 2023 
- mavlink in PX4/Firmware (487c2b03cae972f42a9fe7c397f6949fed63ca3d): https://github.com/mavlink/mavlink/commit/d6d86d3f0c90a67c275d6833931f7c712b858dba
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - Changes: https://github.com/mavlink/mavlink/compare/d6d86d3f0c90a67c275d6833931f7c712b858dba...3ee5382d0c96134b0e1c250d8c2d54bfed0166fa

    3ee5382d 2023-04-20 Peter Barker - common.xml: exclude any stored home location from MISSION_CURRENT.total (#1976)
e0f59ae2 2023-04-13 Hamish Willee - Remove WIP from gimbal device messages/commands (#1973)
181346b5 2023-04-12 Peter Barker - common.xml: remove MAV_CMD_ACK (#1972)
 2023-05-01 11:11:15 -04:00
Julian Oes 3f13a6e787 gimbal: implement gimbal_device_id 
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-01 09:02:25 -04:00
muramura b23eee40f0 bmi088: Do not use invalid values 2023-05-01 09:02:04 -04:00
Daniel Agar f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
murata,katsutoshi 4bb4bc185b commander: level calibration delete unused SENS_BOARD_ROT param access 2023-04-30 21:36:43 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00