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1f77a3750ea0c8d3282f5eaa688f71da433eb9e9
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15002 Commits

Author SHA1 Message Date
Daniel Agar 1f77a3750e mavlink: don't reset _src_addr_initialized on parameter updates 2022-02-18 14:14:36 -05:00
Daniel Agar 1addbe469e mavlink: STATUSTEXT increase stale message timeout 2022-02-18 10:16:20 -05:00
Daniel Agar d5d50d5855 gyro_calibration: add additional validity check before finalizing calibrations 
- this can slip through if sensors are running normally, but then stop publishing valid data
 2022-02-18 09:12:30 -05:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Silvan Fuhrer c51dc3b4b7 ControlAllocator: Set all the elements of a row to 0 if that row has weak authority 
Weak authority on a axis is currently defined as: none of the actuators have an
effectivness on this particular axis larger than 0.05.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer 97a280d41d CA: Tiltrotor: set tilts to exactly -1 or 1 if close to these end points 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer 25f5152583 Tiltrotor: make sure tilt doesn't exceed the FW tilt angle 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer c13726af66 Enable DO_SET_SPEED commands outside of missions in other AUTO modes (#18834) 
* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle

* Navigator: reset cruise speed and throttle to default when VTOL-transitioning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 11:19:02 +01:00
Yannick Fuhrer 26ea70e729 Airspeed selector: fix condition for messaging (#19173) 
Change warning message after airspeed failure on the ground, 
recommend RTL only if flying.
 2022-02-15 17:23:36 +01:00
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
 2022-02-15 14:56:57 +01:00
Silvan Fuhrer 374bcb105a RTL: fill loiter radius in state Climb (#19165) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-15 14:50:14 +01:00
Daniel Agar 5370733d62 ekf2: publish flow vel only if compensated flow is available 
- fix a few publication timestamp_samples
 2022-02-14 10:55:10 -05:00
Daniel Agar b157afde6a ekf2: prefer airspeed_validated over raw airspeed if available (#19159) 
* ekf2: prefer airspeed_validated over raw airspeed if available

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 15:37:29 +01:00
Silvan Fuhrer df0e402c44 CA: refactor logic for matrix updating 
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
  -config changes (parameter)
  -motor failure detected or certain redundant motors are switched off to save energy

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 09:23:10 +01:00
PX4 BuildBot 41e48435c9 Update submodule mavlink to latest Sat Feb 12 12:38:48 UTC 2022 
- mavlink in PX4/Firmware (9457e7b25c4fa51f5ccc0bd887760e910926ba8a): https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/4b0558d0d10efbdd550cb5321d56f6a611d0ab14
    - Changes: https://github.com/mavlink/mavlink/compare/311eee010bb82f5fb2e4e0f64f7961a83212b003...4b0558d0d10efbdd550cb5321d56f6a611d0ab14

    4b0558d0 2022-02-11 Andrew Tridgell - added CANFD_FRAME and CAN_FILTER_MODIFY messages
7f032afe 2022-02-10 Daniel Agar - Apply suggestions from code review
9379a601 2022-02-06 Andrew Tridgell - common: added MAV_CMD_CAN_FORWARD and CAN_FRAME
 2022-02-12 13:16:42 -05:00
Silvan Fuhrer 2eba1847fd HTE: add new parameter HTE_THR_RANGE to define range of estimated thrust 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
Silvan Fuhrer 34805e43fd HTE: remove unused method setMeasurementNoiseStdDev() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
bresch 493e35b72e ekf_terr: reset rng fault when on ground 2022-02-11 10:57:45 -05:00
bresch 502ec7ef46 ekf_terr: fix unit test 
the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
 2022-02-11 10:57:45 -05:00
bresch 2fb7b35a8b ekf2_terr: refactor terrain estimator - flow aiding 2022-02-11 10:57:45 -05:00
bresch 33fd1849e0 ekf2_terr: refactor terrain estimator - rng aiding 2022-02-11 10:57:45 -05:00
bresch 5818974f0f ekf: add range finder "faulty" status 
When delclared faulty, the range finder cannot be used anymore
 2022-02-11 10:57:45 -05:00
bresch a3b2550f07 mc_auto: only check for offtrack, infront and behind in XY-plane 
This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
 2022-02-11 16:14:48 +01:00
Daniel Agar 97a75fc388 sensors: skip selection and failover checks during parameter update cycles 2022-02-10 09:31:23 -05:00
Beat Küng b6607a7b78 battery_status: do not publish if no voltage channel is defined 
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.

An alternative would be to not run battery_status depending on config.
 2022-02-09 16:54:45 -05:00
Silvan Fuhrer 81b08a0168 FW Pos C: set position_sp type to position during VTOL backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
PX4 BuildBot 33ce1b9b64 Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022 
- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - Changes: https://github.com/mavlink/mavlink/compare/51abf3c82b3d7137406459dc9b337e57637711ae...311eee010bb82f5fb2e4e0f64f7961a83212b003

    311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791)
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789)
 2022-02-08 21:50:55 -05:00
Daniel Agar 86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Steve Nogar dce067df83 add configurable rtps rate parameter 2022-02-08 19:03:20 +01:00
Daniel Agar 133fe0cfb1 local_position_estimator: move to INS0 work queue (for significantly more stack) 2022-02-08 11:16:49 -05:00
Julian Oes 490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00
Julian Oes 853047c643 Mantis: use gimbal auto input 
This allows RC and mavlink gimbal v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes 39f0e97245 vmount: refactor for v2 auto input, test command 
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.

The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
  parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
  polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
  rather than only the v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes f2216dff55 mavlink: don't send gimbal_device_attitude_status 
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
 2022-02-07 19:21:15 -05:00
Julian Oes 7e7a99b542 mavlink: handle for GIMBAL_DEVICE_ATTITUDE_STATUS 
That way we can log it later.
 2022-02-07 19:21:15 -05:00
Daniel Agar f9d87fd97a sensors/vehicle_angular_velocity: improve error handling (especially during initial selection) 2022-02-07 12:47:02 -05:00
Thomas Debrunner b4087ebd2b mc_pos_control: increase the default crawl speed for three-stage-landing approach for a more robust landing detection 2022-02-04 21:56:20 -05:00
Matthias Grob 4ef8cead3d mc_pos_control_params: correct crawl speed reference 2022-02-04 21:56:20 -05:00
Matthias Grob 1df9d6fca6 MulticopterLandDetector: fix crawl speed parameter fetching 2022-02-04 21:56:20 -05:00
Thomas Debrunner fb8b9b647a land-detector: switch to crawl speed for intent detection 2022-02-04 21:56:20 -05:00
Thomas Debrunner 2a6d9bc1dd fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available 2022-02-04 21:56:20 -05:00
Daniel Agar 893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar 6b1750d8be ekf2: lower fake position observation variance when at rest 2022-02-04 21:48:32 -05:00
Daniel Agar cf3db0d313 mavlink: don't send_mission_current if mission invalid 2022-02-04 09:40:25 -05:00
Silvan Fuhrer 26dba1407b Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-03 14:18:28 +01:00
JaeyoungLim f82c722653 Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
bresch 917910f3e2 ekf: pass a float by copy instead of a constant ref 2022-02-02 17:43:25 -05:00
bresch 3077f27821 ekf: use float instead of Vector2f for innov gate in pos/vel fusion 
We always use the same innovation gate for X and Y anyway
 2022-02-02 17:43:25 -05:00
Daniel Agar 5fb0084524 ekf2: remove unused shared fields for last velocity observation and variance 2022-02-02 17:43:25 -05:00