The instantaneous thrust_std check prevented convergence during gentle
hovers where excitation was intermittent but sufficient for RLS to
identify K. Track cumulative time above the excitation threshold (5s)
instead, so bursts of thrust variation accumulate rather than requiring
continuous excitation at the moment of convergence.
Validated against flight logs where K estimate was accurate but
convergence never triggered due to flickering excitation gate.
Sweep against range-sensor ground truth shows 0.05 Hz produces K estimates
that match range K more closely than 0.1 Hz. Update default in firmware,
offline analysis tool, and docs.
Add propwash-induced barometer error compensation. Propellers create
static pressure changes at the baro sensor proportional to motor output.
Correction: baro_alt += SENS_BARO_PCOEF * mean_motor_output.
Thrust compensation in VehicleAirData uses a motor ring buffer (8
samples) with time-matched lookup against baro timestamp_sample.
BMP388 timestamp_sample corrected from read time to integration
midpoint (- measurement_time/2), eliminating 38ms baro-thrust lag.
Online estimator module (baro_thrust_estimator) uses a complementary
filter to isolate thrust-correlated baro error at 0.05Hz crossover, and
recursive least squares to identify gain K online. Saves to
SENS_BARO_PCOEF on disarm. Controlled by SENS_BAR_AUTOCAL bit 1.
SENS_BAR_AUTOCAL migrated from boolean to bitmask (bit 0: GNSS cal,
bit 1: thrust comp).
Includes offline calibration/validation tool
(Tools/baro_compensation/baro_thrust_calibration.py).
The EKF2 rate limiter was decimating (picking one sample, dropping the
rest) which loses the noise reduction that the old publish-side
accumulate-and-average provided. Accumulate all incoming samples between
fusion intervals and push the average to the EKF instead.
Remove SENS_BARO_RATE and SENS_MAG_RATE parameters from the sensor
publisher modules (VehicleAirData, VehicleMagnetometer). Sensors now
publish at full sensor rate.
Add EKF2_BARO_RATE and EKF2_MAG_RATE parameters in the EKF2 module
to gate fusion rate on the consumer side. This fixes a rate-aliasing
bug where the publish-side rate limiter created irregular sample
intervals when the sensor rate was close to the configured limit
(e.g. 23Hz baro with 20Hz SENS_BARO_RATE). It also provides full-rate
data to the logger and other consumers.
Parameter migration translates SENS_BARO_RATE -> EKF2_BARO_RATE and
SENS_MAG_RATE -> EKF2_MAG_RATE on import.
The MPL3115A2 ADC conversion at OSR 2 (ratio 4) takes ~18ms. The
driver polls until the conversion completes, so the read time is at
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_TIME / 2.
The LPS25H one-shot measurement is integrated over a ~40ms window
(at 25Hz-equivalent internal averaging). The read time corresponds to
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_INTERVAL / 2.
The LPS22HB one-shot measurement is integrated over a ~40ms window
(at 25Hz-equivalent internal averaging). The read time corresponds to
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_INTERVAL / 2.
Same fix as MS5611: the MS5837 ADC conversion at OSR 1024 takes
~2.28ms, but the data is read after a 10ms scheduling delay. Correct
timestamp_sample by subtracting (CONVERSION_INTERVAL - CONVERSION_TIME/2)
from the read time.
The MS5611 ADC conversion at OSR 1024 takes ~2.28ms, but the data is
read after a 10ms scheduling delay. The current code timestamps the
read time, which is ~8.9ms after the true integration midpoint.
Correct timestamp_sample by subtracting the full offset
(CONVERSION_INTERVAL - CONVERSION_TIME/2) from the read time.
The BMP581 pressure measurement is integrated over a configurable
window (~23ms at 32x pressure / 2x temperature oversampling). The
read time corresponds to the end of the integration window, introducing
a systematic timing bias. Correct timestamp_sample to the midpoint by
subtracting measurement_time / 2.
The BMP280 pressure measurement is integrated over _measure_interval
(~43ms at 16x pressure / 2x temperature oversampling). The read time
corresponds to the end of the integration window, introducing a
systematic timing bias. Correct timestamp_sample to the midpoint by
subtracting measurement_time / 2.
Set all high_rate_sensors_topics to 100hz (10ms interval) and add
vehicle_air_data, vehicle_thrust_setpoint, estimator_aid_src_baro_hgt,
and vehicle_magnetometer.
The BMP388 pressure measurement is integrated over a configurable
window (e.g. 37ms at 16x oversampling). The previous code used the
read time as timestamp_sample, which is the end of the integration
window. Correct to the midpoint by subtracting half the measurement
time, with a guard against unsigned underflow.
rc.mc_defaults sets MAV_TYPE=2 (quadrotor) which the hex airframe
never overrides. Set MAV_TYPE=13 (hexarotor) so the heartbeat
correctly identifies the vehicle type.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Swap joystick surge/heave mapping in manual, stabilized and acro modes to make it similar to position modes
* docs: update UUV/BlueROV2 modes and joystick mapping
* Document basic control axes and joystick mapping
Added basic control axes and stick mapping for BlueROV2.
* Fixed formatting issue
* Enhance clarity of control axes and stick mapping
Clarified descriptions of motion axes and joystick controls for BlueROV2.
The MAVLink standard defines ACTUATOR_OUTPUT_FUNCTION_MOTOR1=1..MOTOR16=16,
but PX4 internally uses OutputFunction::Motor1=101..Motor12=112. The DShot
driver only handled PX4 internal values (101+) and QGC legacy values (1101+),
so any standards-compliant GCS sending the MAVLink enum values would get
VEHICLE_CMD_RESULT_UNSUPPORTED back from MAV_CMD_CONFIGURE_ACTUATOR.
Add a mapping from MAVLink standard values (1-16) to PX4 internal values
(101-116) by adding 100, matching the existing QGC backwards-compat pattern.
* fix(commander): add tab character to critical system loss messages
* fix(commander): extend timeout for traffic avoidance system heartbeat check
* Commander: Only Warn the user about traffic avoidance system loss if COM_ARM_TRAFF is set
Signed-off-by: Claudio Micheli <claudio@auterion.com>
---------
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: Claudio Micheli <claudio@auterion.com>
GCC 14.3.0 emits `-Wstringop-overflow` when `RtcmTest::buildRawFrame()`
is optimized and inlined.
This change marks the helper `noinline` to keep it out of that optimization path.
Preserves the existing logic and only changes how the compiler emits the test helper.
Fixes https://github.com/PX4/PX4-Autopilot/issues/26875
Signed-off-by: Onur Özkan <work@onurozkan.dev>
Jacob Dahl