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16447 Commits

Author SHA1 Message Date
Matthias Grob
2dcb525cd9 RCUpdateTest: RC switch correct corner case test value 
Co-authored-by: Junwoo Hwang <junwoo091400@gmail.com>
 2023-07-11 15:58:48 +02:00
Matthias Grob
42fa41e601 rc_update: fix on-off-switch with negative threshold values 2023-07-11 15:58:48 +02:00
Matthias Grob
1fa5136e30 RCUpdateTest: add unit test for return switch 2023-07-11 15:58:48 +02:00
Matthias Grob
392d445783 RCUpdateTest: fix unit test parameters + restoring state after test 
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.

Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
 2023-07-11 15:58:48 +02:00
Matthias Grob
e127ada07b rc_update: extend ModuleParams::updateParams() for local parameter updates 2023-07-11 15:58:48 +02:00
Matthias Grob
87c697a0d6 rc_update: switch back to protected scope and use fixture for testing 2023-07-11 15:58:48 +02:00
Silvan Fuhrer
81764c43a1
EKF2: use timestamp from argument of PublishEvPosBias() (#21822) 
* EKF2: use timestamp from argument of PublishEvPosBias()

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Update src/modules/ekf2/EKF2.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2023-07-11 11:07:39 +02:00
Matthias Grob
e776aca9ef UUV: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
6b7aed3d44 Boats: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
95a35c972d Rovers: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
0be6069b83 TiltrotorVTOL: allow stopping front tilted motors in fast forward flight 2023-07-10 18:58:37 +02:00
Matthias Grob
66b451e61f TailsitterVTOL: allow explicitly stop forward motor with zero thrust 2023-07-10 18:58:37 +02:00
Matthias Grob
5568afbb12 StandardVTOL: explicitly stop forward motor with zero thrust 2023-07-10 18:58:37 +02:00
Matthias Grob
6b7b34a71a FixedWing: explicitly stop forward motor with zero thrust 
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
 2023-07-10 18:58:37 +02:00
Matthias Grob
2a077181d9 ActuatorEffectiveness: add function to delectively stop motors with zero thrust 2023-07-10 18:58:37 +02:00
bresch
afa085da7f geofence: fix altitude change fence check 
When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
 2023-07-06 22:39:39 -04:00
Antonio Sanjurjo C
c1cb48c2ea EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers 
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
 2023-07-06 09:36:27 +02:00
Thomas Stastny
dccfcb85c1 (Mission) FeasibilityChecker: remove duplicate line 2023-07-04 11:17:23 +02:00
Silvan Fuhrer
a617e9c54b Navigator RTL: run find_RTL_destination() only on_inactive 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-04 09:36:22 +02:00
Silvan Fuhrer
f275085e84 Navigator: Loiter: always establish new Loiter with center at current pos 
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-04 09:35:40 +02:00
Mathieu Bresciani
288e3ae74a
EKF2: vision attitude error filter (#21791) 
* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
 2023-07-03 11:13:59 -04:00
Matthias Grob
a36c922fc0 ActuatorEffectivenessHelicopterTest: adapt to new constructor 2023-07-03 16:21:27 +02:00
Beat Küng
77d6c722a7 helicopter: add tail servo support 
as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
 2023-07-03 16:21:27 +02:00
Harrison Gieraltowski
018ec97c41
mavlink_log_handler: handle _next_entry (#21784) 2023-07-03 10:30:07 +02:00
Matthias Grob
b7e2a9c320 FlightTaskAltitude: remove duplicate, deprecated yaw stick handling 2023-07-03 09:52:47 +02:00
Matthias Grob
4d465533b5 FlightTaskManualAcceleration: remove duplicate yaw stick handling 
It's already instanciated and ran by FlightTaskManualAltitude
which FlightTaskManualAcceleration inherits from.
 2023-07-03 09:52:47 +02:00
Matthias Grob
03183ccacf mc_pos_control_params: remove forgotten trailing zeroes 2023-07-03 09:52:47 +02:00
Silvan Fuhrer
4348dcce2a
Navigator: loiter: remove unnecessary _loiter_pos_set (#21776) 
* Navigator: loiter: remove unnecessary _loiter_pos_set

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Navigator: loiter: remove commented line

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-06-30 15:40:20 +02:00
Silvan Fuhrer
e34993969b tiltrotor: expose tilting duration of backtransition in param 
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
Silvan Fuhrer
05489f9ecf tiltrotor: reduce BACKTRANS_THROTTLE_UPRAMP_DUR_S to 0.5s 
This reduces the motor ramp up time after a transitions is declared over.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
Silvan Fuhrer
c26b699f8a tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s 
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
bresch
eb70c9f6f3 ekf2: update auto-generated code to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
bresch
fdf7867a3e ekf2: update derivation to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
Matthias Grob
7e79d65aa4 mc_pos_control_params: clarify maximum vertical velocity parameters 2023-06-26 17:01:20 +02:00
Matthias Grob
439670444f mc_pos_control_params: more gain & velocity decimals, more clear wording 2023-06-26 17:01:20 +02:00
Matthias Grob
a6a913bf25 mc_pos_control: remove trailing zeroes 2023-06-26 17:01:20 +02:00
Matthias Grob
54a351639c mc_pos_control: improve parameter metadata 
- Adapted descriptions to be more clear
- Adjusted some limits and decimals
 2023-06-26 17:01:20 +02:00
Matthias Grob
d00ad1b815 mc_pos_control: separate parameter metadata into multiple files 
because the original file was almost 1k lines and
the order of parameters more historical than after topic.
 2023-06-26 17:01:20 +02:00
Matthias Grob
20d0661e87 HealthAndArmingChecks: disallow arming via parameter 
COM_ARMABLE is set to "Disabled" will prevent arming.
 This allows to set the parameter when ground demoing a drone or
 if it's in maintenance for safety reasons.
 2023-06-22 13:17:47 +02:00
Matthias Grob
173407581b HealthAndArmingChecks: reorder CMakeLists alphabetically 2023-06-22 13:17:47 +02:00
Thomas Debrunner
fd267fb9a5 param save: Add a blocking API for param saves to be used from shell. 2023-06-21 08:19:52 +02:00
Silvan Fuhrer
18f0311161 Navigator: Mission: improve survey mission resume 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer
24b1ef93b2 Mission: reset mission on landing only if last item was reached 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer
c6870006c7 Navigator: move disable camera trigger on mission inactivation to seperate function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Daniel Agar
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce 
- remove underscore uppercase variable naming that can be problematic
 2023-06-19 21:00:25 -04:00
Beat Küng
65ad6afb08 Micro-XRCE-DDS-Client: update submodule 
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.
 2023-06-19 16:05:36 -04:00
Silvan Fuhrer
4632fbd600 FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Matthias Grob
69aebe650b FixedwingRateControl: rework VTOL differential thrust saturation 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Beniamino Pozzan
957a06a780 Fix enum for COM_RC_IN_MODE in failsafe 
add enum RcInMode

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-06-19 08:04:43 +02:00
Konrad
3303323971 mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL. 2023-06-16 14:21:32 +02:00