1914053db2
ekf2: synchronize z_valid and v_z_valid
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mc_pos_control doesn't handle all the cases at the moment
2022-09-29 14:16:36 -04:00
f753b92cff
ekf2: start fake pos fusion after dead-reckoning timeout
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Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
2022-09-29 14:16:36 -04:00
bb790c9bec
ekf2: add vertical dead-reckoning timeout check for height validity
2022-09-29 14:16:36 -04:00
da99387215
welford mean: protect against negative variances
2022-09-29 14:14:16 -04:00
d3849c0265
welford mean: convert to matrix only template
2022-09-29 14:14:16 -04:00
d4e5876d4c
vehicle_imu: only reset raw accel/gyro Welford mean periodically
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- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
2022-09-29 14:14:16 -04:00
f9522e831c
Gazebo Simulation Enablement ( #20319 )
2022-09-29 13:49:31 -04:00
f89df9d986
VTOL: make const and return when either of mc or fw att sp isn't updated
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-29 16:01:43 +02:00
fdcbabeb9e
VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent
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Use a pitch of 0 to initialize the ramp otherwise.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-29 16:01:43 +02:00
9c5a423753
VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent
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This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-29 16:01:43 +02:00
97e3b76a2e
VTOL: improve readability of VT_FWD_THRUST_EN param
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-29 16:01:43 +02:00
20457c5e2e
position_setpoint: replaced loiter_direction integer by boolean ( #20317 )
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* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-09-29 11:06:10 +02:00
5d39fdba6d
fix: Add boundary protection for array access
2022-09-29 08:11:03 +02:00
2dcde93d96
fix: Fix misuse of atoi()
2022-09-29 08:11:03 +02:00
e2f3157ecb
fix: Add missing comma for const strings
2022-09-29 08:11:03 +02:00
59e86c490d
Remove include <log.h> from defines.h
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The reason for this is that log.h includes drv_hrt.h which sucks in
half the project's include files with it, which causes strange build
issues
2022-09-29 07:56:24 +02:00
1f7080a710
ekf2: extend sensor bias stability requirement
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- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
2022-09-28 10:40:52 -04:00
16f8adb4b3
hysteresis: avoid subtracting unsigned integers
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- avoid potential errors with timestamp passed in from different sources
2022-09-28 09:51:16 -04:00
06f2004580
Mag: fix estimated bias save to calibration
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Clear the calibration at the end only otherwise everything gets erased
at the end of the first iteration of the outer loop
2022-09-28 10:43:54 +02:00
70d73c8690
Advanced Plane Airframe for SITL Advanced Lift-Drag Plugin ( #20207 )
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* Changed sitl_gazebo to the advanced liftdrag plugin fork.
* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).
* Switched gazebo back to main branch, to avoid merge conflicts.
* Change simulator bridge back to what it was in main branch
* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)
* Changed SimulatorIgnitionBridge to match most recent main.
2022-09-27 23:09:27 +02:00
0ee4d89744
drivers/osd/msp_osd: fix uorb_to_msg isnan floating-point check ( #20309 )
2022-09-27 14:41:43 -04:00
a5bfc3fbc2
Added a self test feature to the VOXL 2 muorb module ( #20307 )
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* Removed exit after dsp signature generation.
* First full test suite
* Cleaned up the muorb tests
* Improved VOXL 2 self test trigger in startup file
* Removed unneeded include file
2022-09-26 16:25:24 -04:00
7bc79b491f
sensors/vehicle_magnetometer: more granular in flight mag cal reset on parameter changes
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- if mag calibration parameters change only reset any inflight mag cal
for the corresponding magnetometer
2022-09-26 12:42:32 -04:00
2717137982
RTL params: remove some unnecessary param constraints
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-26 13:32:35 +02:00
b0a7d206f3
RTL params: increase max of RTL_RETURN_ALT and improve description
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-26 13:32:35 +02:00
cfdaba35cc
Adds reset counter logic to EV height fusion
2022-09-26 11:48:18 +02:00
779e738143
MSP OSD Revision
2022-09-24 18:40:47 -04:00
770f8080c0
CRSF: Validate unknown packet sizes to be smaller than max packet size
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Co-authored-by: Chris Seto <chris1seto@gmail.com >
2022-09-24 16:36:17 -04:00
77fdce9f3c
drivers/rc/crsf_rc: update standalone driver for CRSF and direct support for lq/rssi ( #20084 )
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Co-authored-by: Chris Seto <chris1seto@gmail.com >
2022-09-23 19:19:25 -04:00
86cddc6a52
fw_autotune_attitude_control : Add better support for RC TX control while in FW AT ( #20069 )
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Co-authored-by: Chris Seto <chris1seto@gmail.com >
2022-09-23 19:17:51 -04:00
b7fab39165
icm20948_i2c_passthrough: PX4_ERR is reset/configure fails and check temperature for validity
2022-09-23 19:16:10 -04:00
eb2a714aa5
ak09916: PX4_ERR if reset/configure is failing after 5s
2022-09-23 19:16:10 -04:00
32277f6332
uavcan rgbled: Scale brightness for constant illumination
2022-09-23 14:33:20 -04:00
d30ccb2b1d
initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)
2022-09-23 12:03:05 -04:00
cddade2047
ekf2: use validated airspeed from airspeed sensor only
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don't use synthetic measurements to prevent circular dependency
2022-09-23 09:26:47 -04:00
13d565d707
payload_deliverer: Add gripper state output to "status" CLI output
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- Previously it was hard to check which state the gripper was in
(GRAB/GRABBED/ etc), not even whether it was correctly initialized, this
commit adds that functionality
2022-09-23 07:41:51 +02:00
e65d48c070
payload_deliverer: Fix Gripper unitialized message spamming
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- When the gripper was uninitialized, the error message popped up
everytime the module had 'any' vehicle command received. But we should
be spamming only when we do actually get 'DO_GRIPPER' command received,
this commit adds that feature
- Also converted error messages for CLI when gripper test functinality
fails, so that user would get a feedback (originally, the PX4_DEBUG was
of course not outputting everything)
2022-09-23 07:41:51 +02:00
fdf4b668eb
Ark flow rev 3 with PAA3905"
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Add AFBR-S50LX85D
2022-09-22 20:36:43 -04:00
38d332a553
ekf2: inhibit accel bias dynamically when fake position/height fusion active
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- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
2022-09-22 20:32:20 -04:00
300288b57e
FW Attitude Controller: fix polling of rate setpoint for tailsitter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 19:13:36 +02:00
21daa0f398
drivers: add support for ICP101XX and ICP201XX
2022-09-22 11:36:16 -04:00
0df878bc18
Navigator: use NAV_FW_ALTL_RAD only for FW landings, not VTOL landings
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Also containst a mini refactor by removing the unnecessary function
get_default_altitude_acceptance_radius().
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 16:52:51 +02:00
c6c7733587
FW Position control: add option to scale min airspeed wtih wind magnitude
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-22 16:39:27 +02:00
e8ac9b266b
px4events: add @skip-file tag
2022-09-22 09:42:39 -04:00
54c97db8b2
ekf2: fix covariance comment typo
2022-09-21 15:29:07 -04:00
d7fab74727
VTOL: remove _flag_was_in_trans_mode from standard vtol (not used)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-21 14:18:43 -04:00
828f629413
VTOL: remove some pwm hackery leftovers from legacy mixing systems
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-21 14:18:43 -04:00
d948fcd72b
fix control_allocator: check if 2. thrust and torque sp topic is valid
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Otherwise the 2. setpoint is equal to the first one. This is only an issue
if the 2. instance isn't advertised.
2022-09-21 15:11:11 +02:00
a53e1277dd
remove fixedwing example module
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-09-21 09:03:35 -04:00
a96187cb18
drivers/optical_flow: paw3902/paa3905 refactor into simple state machine for reset/configure/read
2022-09-20 18:59:00 -04:00
bresch