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17436 Commits

Author SHA1 Message Date
bresch
130fefb1e7 ekf2: initialize origin from corrent position when possible 2024-08-28 11:02:26 +02:00
bresch
af752536b9 ekf2: extract setting origin from current lat/lon/alt 
This is not only needed when GNSS is available but also for other global
sources of position (e.g.: aux global pos and manual pos updates)
 2024-08-28 11:02:26 +02:00
bresch
9169a7c5fc ekf2: split horizontal and vertical origin reset 
Allow partial resets (only lat/lon or only altitude)
 2024-08-28 11:02:26 +02:00
Daniel Agar
f3d58cdf10 ekf2: resetFlowFusion() pass flowSample by const ref 2024-08-27 10:38:17 -04:00
Daniel Agar
6c24413888 ekf2: filter flow vel (used for flow velocity reset) 
- individual flow samples can be quite erratic
 2024-08-27 10:38:17 -04:00
dagar
5ff4eea870 [AUTO COMMIT] update change indication 2024-08-27 16:16:55 +02:00
Daniel Agar
ac48b8b51d ekf2: mag declination fusion always if there is no aiding 2024-08-27 16:16:55 +02:00
Daniel Agar
2a9e205442 ekf2: fuseDeclination respect mag update_all_states 
- when both mag_hdg/mag_3d are inactive we should be able to continue
   updating mag without any possible impact on other states
 2024-08-27 16:16:55 +02:00
Daniel Agar
9d57a3c02f ekf2: split resetMagCov() and skip mag reset if negligible change 2024-08-27 16:16:55 +02:00
Daniel Agar
bbcf741e9e ekf2: make mag control responsible for WMM 
- this further untangles mag control (which requires the WMM) from GPS
 2024-08-27 16:16:55 +02:00
sbtjagu
be4d0d351c
ackermann: add speed waypoint support and fix delay detection (#23572) 2024-08-27 13:35:48 +02:00
Jukka Laitinen
f67eb6989d mavlink: Fix ESC_STATUS sending for batches > 1 
The indexing was wrong for esc_status sending for ESCs 4->

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2024-08-26 15:06:55 -04:00
Daniel Agar
a75db1286d
logger: automatically limit buffer size to largest available free chunk (NuttX only) 2024-08-26 13:24:39 -04:00
bresch
9183c479a5 ekf2: correctly compute vel variance from flow variance 
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
 2024-08-26 11:28:36 -04:00
Claudio Chies
1a4e8a7341
FLOW: PARAM: GCS Parameter readability 2024-08-26 16:09:21 +02:00
SuddenDeath
510d3cfb39
gz: Fix endless wait for gazebo on different worlds (#23613) 
Co-authored-by: your-sudden-death <noreply@pm.me>
 2024-08-24 17:15:41 +02:00
Daniel Agar
ebbb880e92
ekf2: always use corrected accel/gyro for filtered metrics 2024-08-23 17:35:59 -04:00
Daniel Agar
56560726d3 ekf2: sensor simulator fix GPS replay scaling 2024-08-23 14:35:05 -04:00
Ramon Roche
54f7b58007 Commander: lock down mav sys and comp id 
- keeps them as local params at init
- only allow to set at init
 2024-08-23 11:19:25 -04:00
bresch
1a0f97ebbd ekf2-fake pos: add valid fake position fusion 
This is similar to fake pos but is only used when the ekf has an
external information telling it that the vehicle is not changing
position. This information can then be used to keep a valid local
position even when the vehicle isn't exactly at rest.
 2024-08-23 11:17:21 +02:00
bresch
64b0586dad ekf2: return validity based on dead-reckoning time only 2024-08-23 11:17:21 +02:00
Jaeyoung Lim
d617bf4129
simulation/gz_bridge: Fix build issues with unused variable 2024-08-22 11:48:46 -04:00
Daniel Agar
7250ee1b32 ekf2: organize gyro_bias/accel_bias param yaml 2024-08-22 10:56:16 -04:00
Daniel Agar
ebbd2c1825 ekf2: organize aid source parameters 2024-08-22 10:56:16 -04:00
Claudio Chies
ee022a70c1
Navigator: Land: Improve it for VTOL by taking breaking distance into account (#23566) 
* vtol adjust landing setpoint

* improve comment

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:10:36 +02:00
Silvan Fuhrer
e0bb56b6a7
Commander: Failsafe: set clear condition for action Land like for RTL (#23569) 
For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.

Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:03:24 +02:00
Silvan Fuhrer
6ef82ada6e
Navigator: make sure VTOL transitions in Descend mode are alays triggered (#23578) 
It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:02:32 +02:00
Konrad
20b6f343a3 mission_base: make sure all mission_items during landing phase have yaw set to NaN 2024-08-22 12:58:44 +02:00
Jaeyoung Lim
ae16556107
simulation/gz_bridge: follow model in gz GUI (#22808) 2024-08-21 11:41:47 -04:00
KonradRudin
3478765c31
Navigator: MissionFeasibilityCheck: Rework 1st waypoint check (#23568) 
* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid

* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight

* Apply suggestions from code review

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* feasibilityCheckerTest: update tests to not fail for first waypoint check

* feasibilityChecker: make comment for 1stwaypointcheck event

* Feasibility check unit test: fix comment

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-21 09:08:36 +02:00
Jaeyoung Lim
f252e20eae
Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455)" (#23583) 
This reverts commit 7e45f4915208b2d02e05e5741ff7456cf92120f9.

Co-authored-by: jmackay2 <1.732mackay@gmail.com>
 2024-08-20 19:36:08 -04:00
bresch
0931179579 ekf2: extract WMM update logic 2024-08-20 10:32:27 -04:00
Niklas Hauser
ecfdbd2e60 littlefs: needs more stack when used 2024-08-19 11:05:50 -04:00
Claudio Chies
4d21110cfb
Documentation - improved GCS parameter readablity (#23376) 
improved GCS parameter description

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-19 13:36:04 +02:00
jmackay2
7e45f49152
Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455) 
* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.

* Fix formatting

---------

Co-authored-by: jmackay2 <jmackay2@gmail.com>
 2024-08-19 08:54:57 +02:00
Claudio Chies
e29a36adb4
Landing horizontal velocity compensation / unsteady landing (#23546) 
* initial working

* implemented feedback
 2024-08-19 08:01:43 +02:00
Silvan Fuhrer
435e9665b3
RTL: cone: never climb more than to RTL_RETURN_ALT (#23558) 
This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-19 07:51:33 +02:00
bresch
ad1d9e1312 failsafe: do not add additional hold delay if failsafe action is hold 2024-08-16 16:26:20 +02:00
bresch
ea673b0b5b navigator: check hagl failsafe centrally 2024-08-16 16:26:20 +02:00
Silvan Fuhrer
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled (#23556) 
COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 13:57:37 +02:00
Silvan Fuhrer
4a3cbecf01 Commander: only add *autopilot disengaged* to failsafe notifactions in special cases 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 11:04:37 +02:00
Daniel Agar
f7e6e1354a commander: power check only keep error thresholds 2024-08-15 10:06:56 -04:00
bresch
4ed3e9e210 navigator: add failure enum 2024-08-14 11:08:02 +02:00
bresch
25fcb3c913 comander: trigger failsafe when navigator reports failure 2024-08-14 11:08:02 +02:00
bresch
9f69e9ee6c navigator: publish navigator_state 
feedback to commander
 2024-08-14 11:08:02 +02:00
bresch
1fa878ad88 navigator: add navigation state ID to every mode class 2024-08-14 11:08:02 +02:00
murata,katsutoshi
dec550dcb9
navigator: Change IF statement to SWITCH statement (#23534) 2024-08-14 09:40:36 +02:00
Hamish Willee
f3a8d05f8c
MPC_ACC_DECOUPLE - better description (#23518) 2024-08-14 12:18:14 +10:00
murata,katsutoshi
a327b14cef
navigator: always fully initialize geofence msg 2024-08-13 21:33:36 -04:00
Stefano Colli
e2c0e5c88a
MissionBase: replay the gimbal and trigger cached items only upon reaching resume waypoint (#23484) 
* Fix: replay the mission cached items only upon reaching resume waypoint

* Refactoring
Split camera mode mission items from gimbal ones so to have a finer control over the relative replays

* Chore: fix formatting

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-13 22:20:28 +02:00