3478765c31
Navigator: MissionFeasibilityCheck: Rework 1st waypoint check ( #23568 )
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* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid
* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight
* Apply suggestions from code review
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* feasibilityCheckerTest: update tests to not fail for first waypoint check
* feasibilityChecker: make comment for 1stwaypointcheck event
* Feasibility check unit test: fix comment
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-21 09:08:36 +02:00
f252e20eae
Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )" ( #23583 )
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This reverts commit 7e45f491521.732mackay@gmail.com >
2024-08-20 19:36:08 -04:00
0931179579
ekf2: extract WMM update logic
2024-08-20 10:32:27 -04:00
f2f4488594
drivers/gps: publish secondary instance satellite_info if main instance is advertised
2024-08-19 11:14:12 -04:00
ecfdbd2e60
littlefs: needs more stack when used
2024-08-19 11:05:50 -04:00
4d21110cfb
Documentation - improved GCS parameter readablity ( #23376 )
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improved GCS parameter description
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 13:36:04 +02:00
7e45f49152
Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )
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* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.
* Fix formatting
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Co-authored-by: jmackay2 <jmackay2@gmail.com >
2024-08-19 08:54:57 +02:00
e29a36adb4
Landing horizontal velocity compensation / unsteady landing ( #23546 )
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* initial working
* implemented feedback
2024-08-19 08:01:43 +02:00
435e9665b3
RTL: cone: never climb more than to RTL_RETURN_ALT ( #23558 )
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This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 07:51:33 +02:00
ad1d9e1312
failsafe: do not add additional hold delay if failsafe action is hold
2024-08-16 16:26:20 +02:00
ea673b0b5b
navigator: check hagl failsafe centrally
2024-08-16 16:26:20 +02:00
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled ( #23556 )
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COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 13:57:37 +02:00
4a3cbecf01
Commander: only add *autopilot disengaged* to failsafe notifactions in special cases
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 11:04:37 +02:00
f7e6e1354a
commander: power check only keep error thresholds
2024-08-15 10:06:56 -04:00
2a124fd998
Add Bosch BMM350 magnetometer ( #23362 )
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* Add Bosch BMM350 magnetometer
* BMM350 replace info messages with debug messages
* BMM350 update measurement interval
* BMM350 fix offsets, update based on review
* BMM350 Update default parameters to 50Hz
* Update OTP Word LSB check
* BMM350 fix styles and formatting
* BMM350 update error checks
2024-08-15 01:29:02 -08:00
4ed3e9e210
navigator: add failure enum
2024-08-14 11:08:02 +02:00
25fcb3c913
comander: trigger failsafe when navigator reports failure
2024-08-14 11:08:02 +02:00
9f69e9ee6c
navigator: publish navigator_state
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feedback to commander
2024-08-14 11:08:02 +02:00
1fa878ad88
navigator: add navigation state ID to every mode class
2024-08-14 11:08:02 +02:00
dec550dcb9
navigator: Change IF statement to SWITCH statement ( #23534 )
2024-08-14 09:40:36 +02:00
f3a8d05f8c
MPC_ACC_DECOUPLE - better description ( #23518 )
2024-08-14 12:18:14 +10:00
a327b14cef
navigator: always fully initialize geofence msg
2024-08-13 21:33:36 -04:00
0459481cb4
icm40609d: Change FIFO count to samples instead of bytes
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As the sensor can directly report the amount of samples in the fifo, use it to simplify the logic.
Also combine the fifo empty/fifo overflow checks for interrupt and polling modes.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2024-08-13 21:32:28 -04:00
cc4d5bd2a6
icm40609d: Add INTF register definition and disable I2C interface
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Disable I2C to make sure that the sensor doesn't switch to that by accident
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2024-08-13 21:32:28 -04:00
fd062d0085
icm40609d: Clear interrupt status at FIFO reset
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If DRDY signal is used, the interrupt status needs to be cleared at FIFO reset
in order to make DRDY go back inactive. Otherwise there won't be a falling edge
interrupt at the next sample.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2024-08-13 21:32:28 -04:00
e2c0e5c88a
MissionBase: replay the gimbal and trigger cached items only upon reaching resume waypoint ( #23484 )
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* Fix: replay the mission cached items only upon reaching resume waypoint
* Refactoring
Split camera mode mission items from gimbal ones so to have a finer control over the relative replays
* Chore: fix formatting
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 22:20:28 +02:00
aad607e0dd
ekf2: send airspeed data to ekf backend regardless of sign
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On ground the airspeed can sometimes be slightly negative but the ekf
should still know that airspeed data is flowing regularly
2024-08-13 17:43:45 +02:00
a0d22a4d21
FW Position Control: make explicit when underspeed detection logic is en-/disabled
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 16:55:26 +02:00
acc0cd7e8a
FW Position Control: disable underspeed handling during auto takeoff
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 16:55:26 +02:00
afc360d637
FW Position control: do not invalidate airspeed from negative readings
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 16:55:26 +02:00
db8781e531
navigator: Align MAVLINK message level with EVENT message level ( #23535 )
2024-08-12 19:09:22 +02:00
e008ca24f1
Remove euler angles from attitude setpoint ( #23482 )
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* Remove euler angles from attitude setpoint message
* Remove usage of euler angles in attitude setpoint messages
This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages
* Fix standard vtol
2024-08-12 16:42:51 +02:00
af06bee8d0
update mavlink & adapt to pymavlink generator reporting failures by default
2024-08-12 16:26:56 +02:00
478875c006
ekf tools: compare gyro integral with attitude estimate
2024-08-12 15:26:08 +02:00
64056fc7bb
SYS_STATUS: fill correct attitude, horizontal position flags
2024-08-09 18:22:09 +02:00
1211aad9b0
Reasonable defaults for Lawnmower SITL
2024-08-09 12:18:16 -04:00
fdfe43471e
mavlink_receiver: limit access through instances with gimbal mode
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This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
2024-08-09 10:13:44 -04:00
3f17f15505
commander: allow FW manual pos control without global position
2024-08-09 12:51:09 +02:00
8b12b7c641
commander: extend local position 'relaxed' validity
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Relaxed position is valid as long as a velocity aiding source is active
(e.g.: optical flow or airspeed+sideslip)
2024-08-09 12:51:09 +02:00
f04aa2494b
FW pos control: do not requre global pos in manual position control
2024-08-09 12:51:09 +02:00
6cf0bf5e19
Support MAVLink extension MANUAL_CONTROL.aux
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Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
2024-08-09 10:49:38 +02:00
58a699e3cb
Strip out html escape comments
2024-08-09 09:26:06 +02:00
82be5cd44f
Strip short description from long one
2024-08-09 09:26:06 +02:00
718d308d91
parameter markdown - correct reboot in tables
2024-08-09 09:26:06 +02:00
a294e011ab
purePursuit: fix commenting error
2024-08-08 19:54:42 +02:00
1a7717b5d9
ackermann: refactor guidance files
2024-08-08 19:54:42 +02:00
1af295f1a9
ackermann: refactor main files
2024-08-08 19:54:42 +02:00
a91aa40a3d
battery: only reset soc filter with valid voltage measurement ( #23513 )
2024-08-08 17:09:36 +02:00
0381e14822
FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick
2024-08-08 10:53:18 -04:00
a737036633
RTLDirect: check for terrain collision in every state of RTL beside when landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-08 13:37:36 +02:00
KonradRudin