0b1838f233
test: add test for range finder fusion while on ground
2025-01-03 12:25:16 +01:00
81552fc036
uavcan: relax UAVCAN_RNG_MIN/UAVCAN_RNG_MAX defaults ( #24140 )
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- this is optional sensor metadata that can be set if actually needed
2024-12-26 19:10:31 -07:00
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
b765769f50
Navigator: Set altitude acceptance radius to infinity when moving to land point after transition ( #24115 )
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* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-12-20 09:21:32 +01:00
61961350f9
mavlink_receiver: don't publish out of range joystick input
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Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
2024-12-19 17:59:41 +01:00
5cf85e320a
offboardCheck: acceleration setpoints only require vehicle attitude control
2024-12-19 17:58:38 +01:00
ad799b64b7
mc_pos_control: shorten parameter descriptions to a readable size
2024-12-19 16:12:43 +01:00
1239f0aaed
FlightTaskTransition: Comment why using invalid horizontal velocity works
2024-12-19 16:00:21 +01:00
34bcc277a5
FlightTaskTransition: keep high decelration when overshooting the transition target
2024-12-19 16:00:21 +01:00
11d7dd41fd
FlightTaskTransition: clean up and simplify
2024-12-19 16:00:21 +01:00
839010eeab
Navigator: make ADSB handling optional
2024-12-19 15:30:34 +01:00
be42c7c88a
Adding min-max angles to use for normalized servo outputs
2024-12-19 09:57:55 +01:00
c69f96ec04
ADSB: replace last excess hrt_absolute_time() in the loop
2024-12-19 09:35:38 +01:00
30e51cb80e
ADSB: improve readability of unit tests
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
1a1fd59302
ADSB: pass now timestamp as arguemnt of send_traffic_warning()
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Saves some flash and CPU by not having to call hrt_absolute_time().
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
741e3e8589
ADSB: pass now timestamp as arguemnt of get_traffic_state()
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That enables us to time the unit tests better plus saves some flash and CPU.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
077ade4f8f
Add IO timer channel mode for RPM and also sync up rpi configuration to work with all these drivers
2024-12-19 07:30:25 +01:00
b85ad98a98
Use defines instead of hardcoded magic values for maximum number of output channels and rpm filter time constant
2024-12-19 07:30:25 +01:00
8ce6ad6662
camera_capture: refactor to simplify capture channel initialization
2024-12-19 07:30:25 +01:00
267fa06da8
RPMCapture: fix copyright year, improve comments
2024-12-19 07:30:25 +01:00
f4c8e0e35f
RPMCapture: fix dt should not have a minimum which would limit to 6000rpm
2024-12-19 07:30:25 +01:00
b7b384ab2e
RPMCapture: add back filter reset on timeout
2024-12-19 07:30:25 +01:00
d027f8bf39
RPMCapture: publish outliers in rpm message but don't update the filters and estimate
2024-12-19 07:30:25 +01:00
9ca06be4f5
RPMCapture: refactor to clarify scheduling
2024-12-19 07:30:25 +01:00
c406e0a3a2
RPMCapture: refactor to clarify when an interrupt happened
2024-12-19 07:30:25 +01:00
ec4ed75264
RPMCapture: define period as UINT32_MAX when timed out
2024-12-19 07:30:25 +01:00
825dc47fad
RPMCapture: fix pulses per revolution parameter name, description, type -> use module params
2024-12-19 07:30:25 +01:00
d31271c38e
RPMCapture: added pulse per rev parameter. Do not publish if pulses are to fast
2024-12-19 07:30:25 +01:00
1b105c937d
RpmControl: remove raw RPM spikes using median filter
2024-12-19 07:30:25 +01:00
f687e3d8a4
RPM capture: publish every 1s without new data
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 07:30:25 +01:00
6241db74db
mavlink: stream RAW_RPM message for ONBOAR_LOW_BANDWIDTH
2024-12-19 07:30:25 +01:00
8486f74b2a
RPMCapture: much better timeout scheduling
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Not timing out based on a random interval but based
on the time after the last inerrupt.
2024-12-19 07:30:25 +01:00
c463cc42d0
RPM: clean up message
2024-12-19 07:30:25 +01:00
a60591378c
RPMCapture: switch to PublicationMulti to be compatible with the existing rpm drivers
2024-12-19 07:30:25 +01:00
41b55724bc
RPMCapture: Detect rpm sensing timeout
2024-12-19 07:30:25 +01:00
1bcdb3ef8c
RPMCapture: add hardcoded rpm processing
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Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
2024-12-19 07:30:25 +01:00
491ee01ac4
rpm_capture: add rpm capture driver, publising pwm_input (for now)
2024-12-19 07:30:25 +01:00
8a9391321d
Adding gimbal rate in gz simulation ( #24125 )
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* Adding gimbal rate in gz simulation
* add submodule
2024-12-18 16:25:12 +01:00
6b10f1ca12
ekf: update change indicator
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The calculation of "alpha" in the accel_horiz and height_rate lowpass
filters is slightly different than before.
2024-12-18 14:11:08 +01:00
480c232bfd
ekf2: use alpha filter class
2024-12-18 14:11:08 +01:00
fa5a781e20
AlphaFilter: set time constant instead of alpha
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Then the update function can set the dt at every iteration if needed
2024-12-18 14:11:08 +01:00
37401d6fd1
AlphaFilter: allow setting dt in update call
2024-12-18 14:11:08 +01:00
0561f6c9fc
GZ: add gimbal simulation ( #23382 )
2024-12-18 12:15:03 +01:00
4a73195007
yaw_est: store attitude as quaternion instead of DCM
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This saves flash and makes code simpler
2024-12-18 09:33:11 +01:00
98fde4cbac
gimbal: correctly set gimbal_device_id
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When we use a gimbal connected via "RC", so PWM via the Aux channels, we
need to set the gimbal_device_id to 1 as per the protocol.
This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and
fixed the name of that variable while at it.
2024-12-18 07:51:40 +01:00
9e9d352eb2
mavlink: update submodule
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MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
2024-12-18 07:12:36 +01:00
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
6969e5b6b4
ekf2: do not pre-compute airspeed Kalman gain
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The generated code is not much faster than the simple matrix-vector
multiplication
2024-12-17 22:32:16 -05:00
e7145e7b44
uxrce_dds_client: include distance sensor in dds_topics.yaml
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2024-12-17 22:28:40 -05:00
8a18e5b00c
commander: accelerometer calibration respect rotation
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- accel cal use Accelerometer calibration class to fully respect
rotation (both internal and external sensors)
2024-12-17 22:26:01 -05:00
Jacob Dahl