27870 Commits

Author	SHA1	Message	Date
Pedro-Roque	4a5bf23c80	feat: add effectiveness of thrsuters and rotors to lib	2025-01-10 20:00:33 +01:00
Pedro-Roque	dbe022df20	feat: add metric allocation	2025-01-10 19:34:57 +01:00
Jaeyoung-Lim	216762d402	Copy control allocator to add metric allocator module ... Remove subdirectories Remove	2025-01-10 18:26:04 +01:00
Jaeyoung-Lim	8e1f8da60f	Remove test dependency for now	2025-01-10 18:22:37 +01:00
Jaeyoung-Lim	dac5ae050f	Separate vehicle specific actuator effectiveness ... Keep actuator effectivenss in control allocator	2025-01-10 18:14:35 +01:00
Jaeyoung-Lim	a164aa7be8	Remove more circular dependencies with ActuatorEffectiveness	2025-01-10 17:28:10 +01:00
Jaeyoung Lim	208d37e703	Remove circular dependency if control allocation (#24195) ... ... and actuator effectiveness	2025-01-10 16:58:15 +01:00
Balduin	a231fafafa	SIH: Add Standard VTOL Airframe (#24175) ... * add standard vtol airframe to SIH. mostly took changes from 4d930bde and applied to main. generate_fw_aerodynamics now takes four arguments rather than using the _u class member, because depending on vehicle type _u is used differently.	2025-01-09 15:40:06 +01:00
Silvan Fuhrer	44b423f48d	drivers: ulanding: description: fix link to user guide section (#24189) ... Signed-off-by: Silvan <silvan@auterion.com>	2025-01-09 08:54:58 +01:00
Jari Nippula	cbbbbc9dfa	logger: fix file open issue if crypto algorithm is disabled ... move init_logfile_encryption() call after the buffer start_log() call to have log file already open while storing the header and key data to the beginning of the file.	2025-01-09 07:45:09 +01:00
bresch	ab70ae3252	ekf2: fix GNSS drift false alarm ... In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The issue is that saturating such a signal creates an artificial bias. This made the check fail as the bias was above the threshold.	2025-01-08 21:40:25 -05:00
Matthias Grob	b042f2101f	system_params: clarify SYS_HAS_MAG description ... after answering the questions: Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?	2025-01-08 21:24:00 -05:00
mahimayoga	c3e370b946	MC land detector: fix parameter description for LNDMC_ROT_MAX	2025-01-08 18:03:35 +01:00
mahimayoga	b4273bde25	FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX). ... Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.	2025-01-08 18:03:35 +01:00
mahimayoga	18b4b18a75	FW land detector: do not check for groundspeed if invalid. ... In case the local position speed estimate is not valid, it is assumed to be 0m/s and thus check always passes.	2025-01-08 18:03:35 +01:00
alexklimaj	2625c5211b	dronecan: don't init if can interface fails to init	2025-01-08 11:12:57 -05:00
Silvan Fuhrer	585e5d1482	MissionBase: remove unused param ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-08 09:31:55 +01:00
Silvan Fuhrer	d98a706380	RTL fast reverse: enable precision landing ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-08 09:31:55 +01:00
Silvan Fuhrer	368bbfeb3b	RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-08 09:31:55 +01:00
Silvan Fuhrer	e29c86c81f	rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-08 09:31:55 +01:00
Silvan Fuhrer	0ecc8278b6	Navigator: RTL_direct: onyl start precision land if param is set to enable ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-08 09:31:55 +01:00
RomanBapst	1abc27dd1f	remove fixed-wing condition from airspeed fusion condition ... - enables airspeed fusion to begin during transition already - airspeed fusion is started based on airspeed being above defined threshold Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-01-07 16:19:33 +01:00
bresch	b1773df441	ekf2: fix comments about primary height sources ... Having the xxx_hgt flag set only means that the sensor is fused for altitude/height aiding. It's not necessarily the height reference.	2025-01-07 10:23:13 +01:00
Silvan	8070a9b362	Commander: remove not used include of blocks.hpp ... Signed-off-by: Silvan <silvan@auterion.com>	2025-01-06 09:24:29 +01:00
Alex Klimaj	1043aebf5d	analog_battery: add option for filter (#23987)	2025-01-03 16:01:16 +01:00
bresch	f1a339e7c6	fw-att: avoid multiple conversions	2025-01-03 15:07:52 +01:00
bresch	9bf5257e0e	fw-att: fix wheel controller	2025-01-03 15:07:52 +01:00
Silvan Fuhrer	e2ea48bb79	Simulation: add SystemPowerSimulator to publish SystemPower.msg in sim ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-03 14:07:15 +01:00
Silvan Fuhrer	eac12ee9ce	BatterySimulation: remove unused _battery_pub ... The simulated battery is published by the regular battery class. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-01-03 14:07:15 +01:00
Nicolas MARTIN	4fe6d69966	local position acceleration: use mean value between two publications (#24105) ... To avoid aliasing on the ned acceleration, add an accumulation of acceleration to improve the downsampling	2025-01-03 12:43:39 +01:00
bresch	c1589ddb18	ekf2-rng: do not continuously reset terrain in rng height ref ... When the height reference datum is ground level (range finder height ref), the terrain state is not updated through fusion and should stay at a constant altitude.	2025-01-03 12:25:16 +01:00
Jacob Dahl	0b1838f233	test: add test for range finder fusion while on ground	2025-01-03 12:25:16 +01:00
Daniel Agar	81552fc036	uavcan: relax UAVCAN_RNG_MIN/UAVCAN_RNG_MAX defaults (#24140) ... - this is optional sensor metadata that can be set if actually needed	2024-12-26 19:10:31 -07:00
Mahima Yoga	defccfa99b	Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations (#24107)	2024-12-20 14:47:22 +01:00
Roman Bapst	b765769f50	Navigator: Set altitude acceptance radius to infinity when moving to land point after transition (#24115) ... * Navigator: set alt acceptance radius to infinity for land waypoint after backtransition -> avoid vehicle with depleted battery from not reaching the alt setpoint and getting stuck Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-12-20 09:21:32 +01:00
Matthias Grob	61961350f9	mavlink_receiver: don't publish out of range joystick input ... Note that the MAVLink definition explicitly writes "A value of INT16_MAX indicates that this axis is invalid." which before this change was happily executed.	2024-12-19 17:59:41 +01:00
Matthias Grob	5cf85e320a	offboardCheck: acceleration setpoints only require vehicle attitude control	2024-12-19 17:58:38 +01:00
Matthias Grob	ad799b64b7	mc_pos_control: shorten parameter descriptions to a readable size	2024-12-19 16:12:43 +01:00
Matthias Grob	1239f0aaed	FlightTaskTransition: Comment why using invalid horizontal velocity works	2024-12-19 16:00:21 +01:00
Matthias Grob	34bcc277a5	FlightTaskTransition: keep high decelration when overshooting the transition target	2024-12-19 16:00:21 +01:00
Matthias Grob	11d7dd41fd	FlightTaskTransition: clean up and simplify	2024-12-19 16:00:21 +01:00
Matthias Grob	839010eeab	Navigator: make ADSB handling optional	2024-12-19 15:30:34 +01:00
Pernilla	be42c7c88a	Adding min-max angles to use for normalized servo outputs	2024-12-19 09:57:55 +01:00
Matthias Grob	c69f96ec04	ADSB: replace last excess hrt_absolute_time() in the loop	2024-12-19 09:35:38 +01:00
Silvan Fuhrer	30e51cb80e	ADSB: improve readability of unit tests ... Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-19 09:35:38 +01:00
Silvan Fuhrer	1a1fd59302	ADSB: pass now timestamp as arguemnt of send_traffic_warning() ... Saves some flash and CPU by not having to call hrt_absolute_time(). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-19 09:35:38 +01:00
Silvan Fuhrer	741e3e8589	ADSB: pass now timestamp as arguemnt of get_traffic_state() ... That enables us to time the unit tests better plus saves some flash and CPU. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-12-19 09:35:38 +01:00
Matthias Grob	077ade4f8f	Add IO timer channel mode for RPM and also sync up rpi configuration to work with all these drivers	2024-12-19 07:30:25 +01:00
Matthias Grob	b85ad98a98	Use defines instead of hardcoded magic values for maximum number of output channels and rpm filter time constant	2024-12-19 07:30:25 +01:00
Matthias Grob	8ce6ad6662	camera_capture: refactor to simplify capture channel initialization	2024-12-19 07:30:25 +01:00