33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
8070c70f2c
uxrce_dds_client: dds_topics.yaml add vehicle_land_detected
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- px4_msgs::msg::VehicleLandDetected has been added to dds_topics.yaml
2024-06-27 01:10:04 -04:00
17916b7fdc
uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream
2024-05-15 11:07:01 -04:00
5d025e6d3d
increased uxrce-dds stack size to prevent overflow
2024-05-07 21:13:58 -04:00
a1cce7e961
uxrce_dds_client: optimizations and instrumentation
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- skip ping session if data flowing bidirectionally
- add perf counters for loop time and interval
- skip blocking poll if there's input data to read
2024-03-12 16:22:26 -04:00
b115d3cd44
uxrce_dds_client: refactor init to retry indefinitely
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- move init from UxrceddsClient to init() method so that retry is
possible for both serial and UDP init
2024-03-12 16:22:26 -04:00
57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static ( #22815 )
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Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.
Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.
* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h
---------
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2024-03-08 16:28:24 -05:00
396ef222ee
DifferentialDrive: Rework structure
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3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
2024-02-12 14:29:10 +01:00
fc90e235f1
Rename differential drive setpoint topics
2024-02-12 14:29:10 +01:00
e457a5baed
Differential Drive Guidance: Add guidance
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also add dependency on control allocation parameter CA_R_REV
Differential Drive Guidance: Added mission logic
Differential Drive Guidance
Differential Drive Guidance
Differential Guidance: Inlcude library
Differential Guidance: Compiles, does not work though
Differential Guidance: Works somewhat
Differential Guidance: Temp
Differential Guidance: Tuning
Differeital Drive Guidance: Remove waypoint mover
Differential Guidance: Fixed accuracy issue by converting from float to double
Differential Guidance: rebased on differentialdrive and improved waypoint accuracy
Temp
Differential Guidance: cleanup
temp
2024-02-12 14:29:10 +01:00
3de5c609a4
Differential Rover: PR fixes
2023-12-21 16:27:53 +01:00
1e7ce32480
Differential Rover: Added logging and dds topics
2023-12-21 16:27:53 +01:00
942b6700a1
dds_topics: export estimator_status_flags
2023-12-12 14:43:07 -05:00
fe7988672f
ekf2: auxiliary position fusion
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
e47aba8bc9
msg: add go-to setpoint interface
2023-11-30 17:16:02 +01:00
e627fe01dc
UXRCE_DDS_SYNCC default 0
2023-11-29 20:53:01 -05:00
2363c03bfe
[uxrce_dds_client] wait for Timesync to converge
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
f01400de81
[uxrce_dds_client] Fix debug string format - use PRId64 and llabs
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
742d237ae3
[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint
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actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-22 22:14:50 -05:00
6cc38776c8
src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME ( #22290 )
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* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
2023-11-22 22:06:11 -05:00
ab867b963c
dds_topics: Adds missing data reader
2023-11-22 10:42:05 +00:00
f3e85219a3
dds_topics: Adds handling for empty yaml fields
2023-11-22 10:42:05 +00:00
85c75aedd1
dds_topics: Adds multi publication to subscribed dds topics
2023-11-22 10:42:05 +00:00
35e13a908e
DDS Add battery_status publisher
2023-11-18 11:06:02 +00:00
42d70808e9
uxrce add manual control input subscriber
2023-11-18 11:06:02 +00:00
d12a7dd11d
uxrce_dds_client: run session until we do not get data anymore
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Otherwise there can be significant delay for received data
2023-11-15 13:18:58 +01:00
22acb08406
uorb: add message format compatibility check
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This can be used by DDS/ROS 2 to check for matching message definitions.
2023-11-15 13:18:58 +01:00
b46e1d744b
commander: add config overrides
2023-11-15 13:18:58 +01:00
fbbccf6997
commander: implement external modes and mode executors
2023-11-15 13:18:58 +01:00
58d2badf9f
[uxrce_dds_client] add services (repliers) and basic VehicleCommand service
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-14 11:29:17 -05:00
585687b766
generate_dds_topics.py: simplify repeated code ( #22156 )
2023-10-10 08:12:55 +02:00
f02c5319bc
uxrce_dds_client: add participant configuration parameter
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Replaces the localhost-only and custom participant CLI flags
2023-10-05 08:03:21 +02:00
45fd4d2fb6
uxrce_dds_client: reformat status output
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* Align status values.
* Add indicators for the custom participant and localhost-only flags.
2023-10-05 08:03:21 +02:00
0a5ca3bb75
uxrce_dds_client: update parameter descriptions
2023-10-05 08:03:21 +02:00
7239e8473e
microxrce_client to use px4_poll for uorb subs
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Subscribe to poll uorbs instead of sleeping px4_usleep to
allow more accurate timing.
2023-09-21 08:30:28 -04:00
d4c7ea74ef
refactor uxrce_dds_client: reduce amount of generated code for SendTopicsSubs
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Reduces flash usage by ~4KB for current set of topics.
2023-08-21 20:56:08 -04:00
02a6640000
fix uxrce_dds_client: apparently we cannot use the upper 4 bits for ID's
2023-08-08 10:59:34 +02:00
64c21ad428
uorb: allow for more than 255 uORB messages
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Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
2023-08-08 10:59:34 +02:00
b9667e955d
[uxrce-dds-client]: add parameter to disable time synchronization between Agent and Client
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-07-26 09:16:29 -04:00
65ad6afb08
Micro-XRCE-DDS-Client: update submodule
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Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359 .
2023-06-19 16:05:36 -04:00
9e5420bbbd
microdds_client: rename to uxrce_dds_client
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| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-05-03 11:51:53 -07:00
chfriedrich98