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1334 Commits

Author SHA1 Message Date
Matthias Grob
44c4b8fa85 Style refactoring related to safety button 2022-06-08 05:12:05 -04:00
abarcis
4fc2640ee3
vehicle_command.msg: unneeded comment closings removed (#19759) 
They cause problems with building px4_msgs in ROS2 Humble Hawksbill and removing them fixes the issue.

Co-authored-by: Agata Barcis <agata.barcis@tii.ae>
 2022-06-03 07:25:05 +02:00
Daniel Agar
3889b79342 ekf2: yaw estimator add yaw_composite_valid boolean 2022-06-01 13:16:06 -04:00
Igor Mišić
25488da944 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-06-01 13:15:13 -04:00
Igor Misic
554283655c Revert "px4io: replace safety_off state with safety button event (#19558)" 
This reverts commit 12a81979a8e53b482f45b888faa1c8ed79d23ada.
 2022-05-26 10:06:32 -04:00
Daniel Agar
58ea6235fe ekf2: estimator aid source status (range height) 2022-05-25 09:25:12 -04:00
Daniel Agar
1e25aee6fa ekf2: estimator aid source status (baro height) 2022-05-25 09:25:12 -04:00
Daniel Agar
639222dd65 ekf2: estimator aid source status (GPS pos, GPS vel) 2022-05-23 16:21:49 -04:00
Daniel Agar
1ae467e9cd ekf2: estimator aid source status (starting with fake position) 2022-05-23 16:21:49 -04:00
Igor Misic
12a81979a8 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-05-23 06:54:37 +02:00
Igor Misic
08dcc72e1f commander/safety: replace safety.msg with Safety class (#19558) 2022-05-23 06:54:37 +02:00
Matthias Grob
47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
mcsauder
e8da98fd14 Add gyro clipping to mirror accel clipping monitoring instances. 2022-05-18 21:16:05 -04:00
Silvan Fuhrer
7c5f0121a5 VTOL: remove some unsued variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer
2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer
635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Matthias Grob
57a0289627 trajectory_setpoint: correct comment typo "kinematically" 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-12 17:19:48 +02:00
Matthias Grob
4017f4bb0b vehicle_local_position_setpoint: reorder fields for clarity 2022-05-12 17:19:48 +02:00
Matthias Grob
8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Alessandro Simovic
20ccfbb719 control_allocator: remove failed motor from effectiveness 
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
  recomputing the scale / normalization
 2022-05-12 07:58:56 +02:00
Alessandro Simovic
fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Beat Küng
dfd934fbdb esc_report: add actuator_function 2022-05-12 07:58:56 +02:00
Beat Küng
32402f31df control_allocator: increase max num motors to 12 2022-05-10 08:57:39 +02:00
Silvan Fuhrer
5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer
21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] 
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Beat Küng
efdf5b8fce vehicle_{thrust,torque}_setpoint.msg: fix comment 2022-04-28 19:51:28 -04:00
Daniel Agar
d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Alex Mikhalev
45dff7f71a commander: Add prearm check for flight termination 2022-04-25 11:57:37 -04:00
Daniel Agar
d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
bresch
d903613c9c ekf: add logging for rng kinematic consistency check 2022-04-13 11:41:48 +02:00
bresch
8693ad15a7 ekf: add logging of range finder consistency check 2022-04-13 11:41:48 +02:00
Matthias Grob
6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
RomanBapst
b335710655 vehicle_command: added enum for speed types 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Junwoo Hwang
35613df210 uORB : Don't automatically include message name as default topic name in uORBTopics source files, to handle case where user doesn't use default messgae name for multi topic definition in .msg file 2022-04-13 09:08:51 +02:00
Daniel Agar
bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Igor Misic
80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Hovergames
457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
Daniel Agar
84e796c385 drives/gps: add new sensor_gnsss_relative msg 
- for ublox this corresponds to NAV_RELPOSNED
 2022-03-29 07:59:41 +02:00
Daniel Agar
0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Silvan Fuhrer
a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Silvan Fuhrer
c30f2b9493 vehicle_status_flags.msg: remove unused condition_system_returned_to_home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Daniel Mesham
06a9be74fa microdds: add xrce client 2022-03-22 09:01:05 +01:00
JunwooHWANG
04f8453f4a
Reduce Beeepr Default volume : 40 -> 20, since it's too loud for TAP_ESC devices from Yuneec (#19311) 2022-03-11 10:27:57 +01:00
Beat Küng
9b629a9e95 hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 
- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
 2022-02-25 08:30:58 +01:00
Daniel Agar
1d7791dad6 commander: monitor GPS validity and EKF2 dead reckoning 
- ekf2: expose dead reckoning as control status flags
 - commander:
    - add GPS validity check
    - in AUTO MISSION if dependent on GPS then a loss of GPS will
 2022-02-22 09:46:21 -05:00
Daniel Agar
591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00
Daniel Agar
e0a8d217fc mavlink increase HEARTBEAT timeout 1.5->2.5s 
- tolerate missing one HEARTBEAT + jitter
 2022-02-18 10:16:20 -05:00
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
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
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