Matthias Grob
2edb35b1b5
Functions: add gradual function with arbitrary number of corner points
2022-09-07 08:00:26 +02:00
Matthias Grob
6a9a049f1e
Helicopter: add unit testing for throttle curve
2022-09-07 08:00:26 +02:00
Matthias Grob
9ba6f4efb7
Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S
2022-09-07 08:00:26 +02:00
Matthias Grob
554d965a2d
Helicopter: use absolute value for yaw compensation from collective pitch
2022-09-07 08:00:26 +02:00
Beat Küng
608ab9ff9c
control_allocator: extend description for CA_SP0_ANGx
2022-09-07 08:00:25 +02:00
Beat Küng
e346190e63
helicopter: use tail motor & add CA_HELI_YAW_CP_S
2022-09-07 08:00:25 +02:00
bresch
92fbd86b46
ekf2: add gps altitude drift test
2022-09-05 10:28:37 -04:00
bresch
a2a5093881
ekf2: relax zero velocity update
...
The ZVU is too strong and prevents the EKF from following variations in
the height aiding sources, creating large innovations.
2022-09-05 10:28:37 -04:00
Daniel Agar
d996af4647
ekf2: pass gpsSample around where required
...
- this minimizes potential misuse accessing _gps_sample_delayed and
makes the dependency clear
2022-09-05 10:27:19 -04:00
RomanBapst
0c860fa227
airspeed_selector: don't declare wind estimate valid if estmator is not initialised
...
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2022-09-05 10:21:38 -04:00
Benjamin Perseghetti
a56f654651
Multi-Vehicle Ignition Gazebo Simulation ( #20154 )
2022-09-04 21:10:29 -04:00
Daniel Agar
7bbdc220f5
ekf2: initialiseFilter() simplify mag heading init and resetQuatStateYaw
...
- most of resetQuatStateYaw doesn't apply to initial heading init, so
removing the special case keeps it simple
2022-09-02 08:46:10 -04:00
Daniel Agar
f66b5ce204
simulation: ignition bridge allow IMU or pose callbacks to update system time if newer than clock
...
* requires HRT lockstep changes to eliminate offset (PR #20146 )
2022-09-01 20:42:21 -04:00
Daniel Agar
c52f2143d2
posix lockstep remove HRT offset and use full sim time
2022-09-01 20:40:37 -04:00
Daniel Agar
3da0293369
simulator_ignition_bridge: init error handling
2022-09-01 18:54:59 -04:00
Beat Küng
43c5f14aa0
commander: update arming & health protocol, add modes to event hash
2022-09-01 17:07:23 -04:00
Beat Küng
f57321d365
simulator_mavlink: fix esc_status publication
2022-09-01 17:07:23 -04:00
Beat Küng
295caaea60
events/enums.json: remove redundant manual_control_input
2022-09-01 17:07:23 -04:00
Beat Küng
9eff6dd049
commander: cleanup param value description for COM_POSCTL_NAVL
2022-09-01 17:07:23 -04:00
Beat Küng
0e130eac83
refactor commander: move code inside run() into separate methods
2022-09-01 17:07:23 -04:00
Beat Küng
dcb9b712bb
refactor commander: move vehicle control mode to ModeUtil
2022-09-01 17:07:23 -04:00
Beat Küng
f197c8884d
commander: move esc checks to arming check
2022-09-01 17:07:23 -04:00
Beat Küng
c9037f115b
refactor commander: split out home position
2022-09-01 17:07:23 -04:00
Beat Küng
f17f38197d
commander: move estimator checks to arming check
2022-09-01 17:07:23 -04:00
Beat Küng
cfe3d793bf
commander: move battery handling into arming checks
2022-09-01 17:07:23 -04:00
Daniel Agar
5cb44a521c
ekf2: estimator interface handle sample time with signed integers
...
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
2022-09-01 09:47:29 -04:00
dagar
75f6f22223
[AUTO COMMIT] update change indication
2022-08-31 08:52:30 -04:00
Daniel Agar
1948c5057a
ekf2: handle all time on delayed horizon (except for newest sample checks)
...
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
- if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
- handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
- isRecent() and isTimedOut() helpers use delayed time
- add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
2022-08-31 08:52:30 -04:00
Hamish Willee
e780a583cd
Fix typo follow height: FLW_TGT_HT
2022-08-29 13:25:35 +02:00
Ben Berry
734d3e4aa0
Reverted changes that broke Level Horizon calibration
2022-08-29 09:54:36 +02:00
Beat Küng
666b84027d
GyroFFT: disable 4096 for IMU_GYRO_FFT_LEN
...
saves around 10.5KB flash on px4-fmu-v5
2022-08-25 22:02:15 -04:00
Beat Küng
060738cae1
src: avoid use of double precision pow & exp
...
saves around 5KB flash on px4-fmu-v5
2022-08-25 22:02:15 -04:00
Beat Küng
4c41934bb4
commander: inline HealthComponentIndex::HealthComponentIndex
...
Saves around 1KB flash
2022-08-25 22:02:15 -04:00
Beat Küng
1c89b0c9c8
commander: use actuator_function for ESC reporting
2022-08-25 22:02:15 -04:00
Beat Küng
13c93db11a
commander: use circuit breaker params directly in arming checks
2022-08-25 22:02:15 -04:00
Beat Küng
4230eee24f
commander: print 'ready for takeoff' to console for sitl after startup
2022-08-25 22:02:15 -04:00
Beat Küng
2fccb576ad
commander: remove unused includes and variables
2022-08-25 22:02:15 -04:00
Beat Küng
dbb814ff24
HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage
...
- print list of events whenever they change if
CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
2022-08-25 22:02:15 -04:00
Beat Küng
b2cb164c12
commander: replace health flags with health_report from arming checks
2022-08-25 22:02:15 -04:00
Beat Küng
6d1fb92eb7
commander: rework arming checks to use the events interface
2022-08-25 22:02:15 -04:00
Beat Küng
b3fe0eeae8
mavlink_events: send reset sequence out immediately on startup
2022-08-25 22:02:15 -04:00
Beat Küng
c7b64e3c01
commander: check for ack when calling 'commander takeoff'
2022-08-25 22:02:15 -04:00
Beat Küng
406b0bbc86
commander: handle VEHICLE_CMD_RUN_PREARM_CHECKS
2022-08-25 22:02:15 -04:00
Beat Küng
8f9be0541f
HealthAndArmingChecks: add support for legacy mavlink_log reporting
2022-08-25 22:02:15 -04:00
Beat Küng
f23363f88c
HealthAndArmingChecks: add unit tests for Report
2022-08-25 22:02:15 -04:00
Beat Küng
fcadc69e52
mavlink_receiver: set timestamp to gps_inject_data_topic
2022-08-25 22:02:15 -04:00
Beat Küng
b7a6de05df
arming checks: add health topic
2022-08-25 22:02:15 -04:00
Beat Küng
07afcf4586
commander preflight checks: new structure using events interface
...
- Reporter class that keeps track of results (list of events + whether
arming is possible + health).
And only reports when one or more checks change.
2022-08-25 22:02:15 -04:00
Beat Küng
04f7df3848
SubscriptionMultiArray: use Subscription instead of SubscriptionInterval
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Saves ~3KB RAM on fmu-v5.
2022-08-25 22:02:15 -04:00
Daniel Agar
9b0b0d1168
ekf2: update test change indication csv
2022-08-25 15:55:45 -04:00
