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
28487350d3
ci: update actions and images
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Updates some actions to run build steps in container instead of the
whole workflow.
2024-12-04 12:59:27 -05:00
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and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.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
5ce2bf662b
airframes markdownout.py - br rather than p for generated code
2024-12-02 11:55:25 +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
a1b68fcac2
mecanum: update SITL airframe parameters
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
b06ff99a3e
disable SIH on x21-777 and v6u to save flash
2024-11-29 14:21:29 +01:00
db0160bf7c
fix sih hitl plane airframe
2024-11-29 14:21:29 +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
b30ea40c6d
SIH: set GNSS delay to 0 as delay is not simulated
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
ab320017cc
boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 ( #24006 )
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adds the `emlid_navio2_arm64` build target - supports 64-bit OS on Raspberry Pi 4,5 (#24006 )
2024-11-28 08:44:44 -08:00
95b5859913
boards: add SPA06 to KakuteH7/H7mini/H7v2 boards
2024-11-28 12:18:44 +13:00
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
1b6215fcf3
readme: update ci badge
2024-11-27 17:41:43 -05:00
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
68cbbaab92
Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive
2024-11-27 13:51:10 -08:00
22c1f07f0c
container: use PX4 tags whiel tagging images
2024-11-27 16:42:13 -05:00
f2bbb6f407
ci: disable publishing PR images to docker hub
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Docker hub is rate limiting our API access, as a result tests are
failing for no apparent reason. This change will decrease the API calls
by at least 80%
We have applied for an Open Source account with greater API limits, I
will come back to this and update as necessary when and if they grant us
access to their program.
2024-11-27 16:42:13 -05:00
85bc8ef885
SIH-plane: fix actuator mapping
2024-11-27 11:14:56 -05:00
Julian Oes