09cd42911d
Mission: Replay gimbal cached items before reaching mission waypoint ( #24085 )
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When flying patterns, photos are sometimes taken while the gimbal is pitching up or down. To address this, we orient the gimbal before reaching the mission waypoint, allowing more time to complete the action. Additionally, we verify if the vehicle is climbing to avoid orienting the gimbal while on the ground.
2024-12-10 09:20:53 +01:00
2da944a834
Logger: combined key & cipher file
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Use one single .ulge file to store both wrapped symmetric key and
encrypted ulog data instead of creating separate .ulgk/ulgc files
2024-12-05 07:25:29 +01:00
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
1778692ca2
gps: heading fixes for NMEA/Unicore
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This updates the GPS submodule which includes NMEA/Unicore fixes:
- Add correct return value for sat infos
- Only publish on position updates
- Request required topics at 5 Hz for Unicore
2024-12-05 08:58:22 +13:00
d416cd2a6c
Commander: remove COM_POS_FS_DELAY
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A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
2024-12-03 17:31:56 +01:00
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout ( #24069 )
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* Avoid unsigned integer underflow
* ESC check: add brackets to timeout for readability
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-12-03 17:14:09 +01:00
8626019ae0
EKF2: reset global position using variance
2024-12-03 13:04:25 +01:00
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
4696338d29
Add gz model for quadtailsitter ( #23943 )
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* Add gazebo airspeed plugin and add a tailsitter model
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Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com >
2024-12-02 17:27:23 +01:00
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
be2a3afb83
mecanum: update parameter description
2024-12-02 10:54:43 +01:00
ff55313b0b
mecanum: update current position in main file
2024-12-02 10:54:43 +01:00
369ce37d65
mecanum: adjust speed setpoints to always be feasible
2024-12-02 10:54:43 +01:00
2eda5659eb
mecanum: fix inverse kinematics
2024-12-02 10:54:43 +01:00
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
54abc59283
mecanum: deprecate RM_MAN_YAW_SCALE
2024-12-02 10:54:43 +01:00
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
7e705bbf55
differential: add slow down effect in mission mode
2024-12-02 10:44:22 +01:00
8880569b31
differential: adjust speed setpoint based on yaw rate setpoint
2024-12-02 10:44:22 +01:00
8b1975cb98
SIH: lower IMU noise before takeoff
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This speeds-up the EKF alignment
2024-11-29 14:21:29 +01:00
cd18138b1c
SIH: add transport rate acceleration to local acceleration
2024-11-29 14:21:29 +01:00
674aa474e7
SIH: use LatLonAlt class
2024-11-29 14:21:29 +01:00
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
7cf42727fb
lla: add functions to convert from and to ECEF
2024-11-29 14:21:29 +01:00
7ee69d616d
SIH: rework FW ground contact
2024-11-29 14:21:29 +01:00
5d33971712
SIH: refactor MC ground contact
2024-11-29 14:21:29 +01:00
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
5d7b734bc9
SIH: ellipsoidal earth model
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SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-11-29 14:21:29 +01:00
ce3fcd503f
navigator: unify timeout waiting for payload to execute mission item command
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Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
2024-11-28 20:23:36 +01:00
17c24bafbc
mission_block: simplify timeout check
2024-11-28 20:23:36 +01:00
ec1cf04bc9
mission_block: fix style, shorten debug message strings
2024-11-28 20:23:36 +01:00
8b3c78a0a4
Navigator: add optional delay after gimbal mission items
2024-11-28 20:23:36 +01:00
def6ab5a6b
drivers: add SPA06
2024-11-28 12:18:44 +13:00
f7b62961cb
drivers: Copy SPL06 to SPA06
2024-11-28 12:18:44 +13:00
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
8a9bac29a2
SIH-FW: allow pitching up during takeoff
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Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
7236ef2d17
SIH-FW: fix aileron and elevator signs
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This broken when changing from mixer files to the control allocation module.
2024-11-27 11:14:56 -05:00
1dad25b763
SIH: do not assume being a tailsitter when creating airspeed measurement
2024-11-27 11:14:56 -05:00
a280d67be8
PID: Fix test to respect integral updates being applied in the next iteration
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
f9bcbc31ae
PID: protect from division by zero because of dt
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
e047972cde
Add new C++ PID library
2024-11-26 16:13:48 +01:00
e194a52907
ekf2: derivation.py remove sideslip small angle approximation
2024-11-25 08:53:57 +01:00
14fe6c2167
ekf2: resetHeightTo -> resetAltitudeTo
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The vertical position state is now an altitude, not just a local height
2024-11-22 15:13:47 +01:00
93c690f133
ekf2: do not inline getPosition
2024-11-22 15:13:47 +01:00
Riccardo Mengoli