fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 22:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
48,470 Commits 852 Branches 161 Tags
24d7cd48e582e5d83d7dcda421efbc3ae4e976f4
Commit Graph

3569 Commits

Author SHA1 Message Date
Silvan Fuhrer a1812dbde0 gimbal: move gimbal controls to new dedicated topic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
akkawimo bcd6e7adee comment out fake_traffic to prevent flash overflow 2023-03-16 07:32:43 +01:00
Mohamad Akkawi 9de52bb5ec [navigator] Tone Down traffic warnings 
- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
 2023-03-16 07:32:43 +01:00
Silvan Fuhrer 9a038281c5 RoverPositionController: remove some unused stuff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer feec8b2036 L1: remove some functions that Rover doesn't need 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer 76116d79f9 TECS: remove umcommanded_descent flag 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer 527225357b TECS: remove unused TECS_MODE_CLIMBOUT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer 837095b9a8 tecs: use FW_T_SINK_MIN for STE_rate_min (#21190) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 15:46:41 +01:00
RomanBapst 6e07af959f fixed bug in Matrix library 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
Matthias Grob 6f4d903f45 Battery: address two comments from #2242 
- use a constant instead of magic number
- fix code comment typo
 2023-02-13 13:27:08 +01:00
Konrad b9f9f25b48 parameter_translation: Add parameter translation for renamed L1 parameters 2023-02-09 17:51:55 +01:00
KonradRudin c5d041a2f7 Rearrange npfg use path input (#21071) 
* [npfg]: Remove the guideToPoint function and replace with guideToPath

* [npfg]: remove unused navigateXXX functions

* [npfg]: Move navigateXXX Function into FWPoscontrol

* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
 2023-02-08 08:54:00 +01:00
Daniel Agar 661eb2adb4 lib/sensor_calibration: BiasCorrectedSensorOffset() don't incorporate thermal offsets 
- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
 2023-02-06 15:09:07 -05:00
Daniel Agar 47215bb625 lib/wind_estimator: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Daniel Agar 8da993c30e Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-28 11:41:03 -05:00
Roman Bapst 4646762f9d Use multiplication instead of division 2023-01-28 10:31:17 -05:00
Silvan Fuhrer d32f400851 WindEstimator: use isAllFinite() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer a6d14796e4 WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer 15335b194a WindEstimator: use state indexing enum consistently 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer 88ec117e59 TECS: rename tecs_status.altitude_filtered to altitude_sp_ref 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer 5099a91f87 TECS: keep _pitch_integ_state in radians 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer e16f98c2b6 FW Position controller: remove unused climbout arguments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
KonradRudin d3b7112dd9 [TECS]: If in airspeedless mode, add the throttle integrator term to the throttle setpoint, if the integrator term is positive. This should avoid reducing airspeed when switching to airspeedless mode. (#20987) 2023-01-25 09:16:11 +01:00
Julian Oes 35d6b734f5 perf: avoid leaks in dtor 
From what address sanitizer tells me, we need to tell delete what type
it is deleting.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-17 21:20:51 -05:00
Daniel Agar 45912066d2 fix copyright header year range 2023-01-14 09:16:16 -05:00
Eric Katzfey ac80dcd7a8 Voxl2: add qurt i2c driver support and first i2c driver voxlpm 2023-01-13 19:59:41 -05:00
Peter van der Perk fa87375d0c Add hardfault log progmem flash backend 2023-01-04 12:52:01 -05:00
Yannick Fuhrer 98529a5b49 Battery: delay initialization of SoC (#20729) 
* Battery: delay initialization of SoC

* battery: rework of battery initialization delay

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-12-26 18:44:22 +01:00
Eric Katzfey c3e70b03aa Add more to Voxl2 build and fix associated build errors (#20821) 
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
 - Replace non-standard M_PI constants with PX4 defined M_PI_F constants
 - Include missing header file for function hrt_absolute_time declaration
 - Add new PX4_SOC_ARCH_ID for the VOXL2 board
 2022-12-22 15:44:19 -05:00
Daniel Agar f2cd7667dc systemcmds/bsondump: new command line utility (extracted from parameters) 2022-12-21 10:14:00 -05:00
Konrad f5524fa605 TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter. 2022-12-21 09:04:19 +01:00
Konrad 08c36612b3 TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled. 2022-12-21 09:04:19 +01:00
Konrad 77539d4dac TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint. 2022-12-21 09:04:19 +01:00
Konrad 8c6dfc840b TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step. 2022-12-21 09:04:19 +01:00
Konrad 7a3e0f53c2 TECS: Replaced old tecs by cleaned up version. 2022-12-21 09:04:19 +01:00
Konrad 991689d3cd TECS: Add new tecs library in parallel to old tecs in the position control library for comparison. 2022-12-21 09:04:19 +01:00
Konrad c64e111d8e TECS: Rearranged the TECS library into submodules. 2022-12-21 09:04:19 +01:00
Silvan Fuhrer 20342216e2 Airspeed Selector: use better density source and only save scale parameter if valid (#20764) 
* AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS

Previously the vehicle_air_data.temperature and pressure was used, instead of the
density field directly.
Only makes a difference if there is an airspeed sensor connected to provide
the air temperature.

* AirspeedSelector: only safe estimated scale in param if airspeed is valid

* AirspeedSelector: remove 0.01 cliff for saving learned scale to param

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-12-20 15:52:54 +01:00
Igor Misic 52275923ad adsb: add support for callsign 2022-12-20 08:18:09 +01:00
Eric Katzfey 678607117a Qurt UART ESC driver support (#20784) 2022-12-20 01:25:12 -05:00
PX4 BuildBot da7d52e302 Update submodule libevents to latest Tue Dec 20 00:39:10 UTC 2022 
- libevents in PX4/Firmware (26f3fea7ebb328ef58d4d592dae0559c91f13c1c): https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677
    - libevents current upstream: https://github.com/mavlink/libevents/commit/8d9c5551273a52e22253ea6abf28d9e4b05e0ab7
    - Changes: https://github.com/mavlink/libevents/compare/0c8bc543db2f8c78f59214d5bcf959bdadd96677...8d9c5551273a52e22253ea6abf28d9e4b05e0ab7

    8d9c555 2022-12-13 Beat Küng - README: clarify use of component ID
 2022-12-20 01:24:15 -05:00
Beat Küng 5217bedd4b commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags 2022-12-14 07:55:04 +01:00
Eric Katzfey e17ddcc0e5 Qurt platform custom icm42688p IMU driver (#20753) 
- first version of IMU driver for the VOXL 2 platform (Qurt)
 - this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory
 2022-12-12 22:02:23 -05:00
Eric Katzfey a5e4295029 lib/drivers: device drivers library for Qurt platform (#20741) 2022-12-10 19:31:06 -05:00
Daniel Agar f3884d5835 Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-09 11:40:30 -05:00
Daniel Agar 8114aad983 initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) 
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
 - currently doesn't do much other than allow you to build px4 msgs interface package
 2022-12-08 23:03:44 -05:00
PX4 BuildBot b3cebc6686 Update submodule libevents to latest Wed Dec 7 00:39:06 UTC 2022 
- libevents in PX4/Firmware (ff161d5eca5ee3e605840dc05642984985fcbf5a): https://github.com/mavlink/libevents/commit/179f86a8fc7fd74cb80630e77b1b9435d3c5b748
    - libevents current upstream: https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677
    - Changes: https://github.com/mavlink/libevents/compare/179f86a8fc7fd74cb80630e77b1b9435d3c5b748...0c8bc543db2f8c78f59214d5bcf959bdadd96677

    0c8bc54 2022-11-07 Beat Küng - README: fix typo
ca1cce0 2022-11-04 Beat Küng - README: add note for usage of UNIT's
 2022-12-06 19:39:37 -05:00
Thomas Stastny 2da10183f3 welford mean: remove old comments 2022-12-06 08:59:12 -05:00
Daniel Agar 89b81b0bd6 create Welford mean Vector with covariance and improve precision with Kahan summation (#20676) 
- WelfordMeanVector now computes covariance
 - use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
 - WelfordMean and WelfordMeanVector handle initial value and count roll over
 - Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
 - sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
    - fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
 - gyro_calibration: update Welford mean usage
 2022-11-30 14:50:13 -05:00