Using the SF30/d with the legacy protocol caused a delay of the
measurements of ~1s. This is not the case with the binary protocol anymore.
The initialization sequence used for SF20/c did not work and is therefore
updated.
Tested on both SF20/c and SF30/d.
-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Create a dummy BAHRS driver
* Resolve compilation
* Switch back to cpp, fix compilation
* Create module.yaml
* Implement required module APIs and open serial port
* Revise info and error messages
* Poll serial port
* Push received bytes into the ring buffer
* Process data buffer (1)
* Process data buffer (2)
* Process data buffer (3)
* Process data buffer (4)
* Process data buffer (5)
* Process data buffer (6)
* Implement and use initialize() and deinitialize() methods
* Implement print_usage() and print_status()
* Collect all config constants in a class
* Put info about next found message into a class
* Print CRC failure count
* Remove unneeded print
* Add comments
* Disable EKF2, advertise vehicle attitude
* Decode and publish BAHRS signals (1)
* Run the driver as an additional source of sensor signals
* Add tiny noise to baro-inertial pressure signal
* Fix the sensor ID
* Add copyrights
* Fix formatting
* Remove redundant newline character
* Fix long parameter name
* Fix findings (1)
* Fix finding (2)
* Fix formatting
* Fix the timeout value
* Remove aliases
* Fix copyright
* Fix indent
* Comply with naming convention
* Rework comparison to false
* Reduce nesting (1)
* Reduce nesting (2)
* Reduce nesting (3)
* Fix BAHRS sensor ID
* always reschedule from measurementReadyCallback, don't update range mode is processMeasurement fails, reschedule trigger faster if Argus_TriggerMeasurement fails, refactor mode switching logic, update perf counters
* make format
* make format exclude microstrain submodule
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* Added the ranges for the new ARK Murata IMUs and added the logic to the driver to handle it
* Ran make format
* sch16t fix COMP_ID
* Revert "sch16t fix COMP_ID"
This reverts commit 38bf02bc8616490a37a57257938086b8e8d5fa0f.
* sch16t add production k10 id
* Added B13 as REV_1
---------
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This fixes a number of issues with uavcan ESC control.
- Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control
- The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state.
- Useless and redundant code has been removed and small name changes have been applied.
Even though all enum values fit into 13 bits, there's an error:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: ‘septentrio::sbf::Header::id_number’ is too small to hold all values of ‘enum class septentrio::sbf::BlockID’ [-Werror]
This is with GCC 13.3.0 under Ubuntu 24.04
Jacob Dahl