33fd1849e0
ekf2_terr: refactor terrain estimator - rng aiding
2022-02-11 10:57:45 -05:00
5818974f0f
ekf: add range finder "faulty" status
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When delclared faulty, the range finder cannot be used anymore
2022-02-11 10:57:45 -05:00
a3b2550f07
mc_auto: only check for offtrack, infront and behind in XY-plane
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This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
2022-02-11 16:14:48 +01:00
97a75fc388
sensors: skip selection and failover checks during parameter update cycles
2022-02-10 09:31:23 -05:00
b6607a7b78
battery_status: do not publish if no voltage channel is defined
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This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.
An alternative would be to not run battery_status depending on config.
2022-02-09 16:54:45 -05:00
81b08a0168
FW Pos C: set position_sp type to position during VTOL backtransition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-02-09 11:39:47 -05:00
1d6396b418
Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-02-09 11:39:47 -05:00
33ce1b9b64
Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022
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- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
- Changes: https://github.com/mavlink/mavlink/compare/51abf3c82b3d7137406459dc9b337e57637711ae...311eee010bb82f5fb2e4e0f64f7961a83212b003
311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791 )
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789 )
2022-02-08 21:50:55 -05:00
86f81680fb
sensors: check uORB::SubscriptionData validity before use
2022-02-08 13:19:01 -05:00
dce067df83
add configurable rtps rate parameter
2022-02-08 19:03:20 +01:00
133fe0cfb1
local_position_estimator: move to INS0 work queue (for significantly more stack)
2022-02-08 11:16:49 -05:00
490a0c473b
Rename vmount to gimbal
2022-02-07 19:21:15 -05:00
853047c643
Mantis: use gimbal auto input
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This allows RC and mavlink gimbal v2 input.
2022-02-07 19:21:15 -05:00
39f0e97245
vmount: refactor for v2 auto input, test command
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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
f2216dff55
mavlink: don't send gimbal_device_attitude_status
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If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
2022-02-07 19:21:15 -05:00
7e7a99b542
mavlink: handle for GIMBAL_DEVICE_ATTITUDE_STATUS
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That way we can log it later.
2022-02-07 19:21:15 -05:00
f9d87fd97a
sensors/vehicle_angular_velocity: improve error handling (especially during initial selection)
2022-02-07 12:47:02 -05:00
b4087ebd2b
mc_pos_control: increase the default crawl speed for three-stage-landing approach for a more robust landing detection
2022-02-04 21:56:20 -05:00
4ef8cead3d
mc_pos_control_params: correct crawl speed reference
2022-02-04 21:56:20 -05:00
1df9d6fca6
MulticopterLandDetector: fix crawl speed parameter fetching
2022-02-04 21:56:20 -05:00
fb8b9b647a
land-detector: switch to crawl speed for intent detection
2022-02-04 21:56:20 -05:00
2a6d9bc1dd
fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available
2022-02-04 21:56:20 -05:00
893cdf8f38
ekf2: test external vision adjustments after lowering fake position fusion variance
2022-02-04 21:48:32 -05:00
6b1750d8be
ekf2: lower fake position observation variance when at rest
2022-02-04 21:48:32 -05:00
cf3db0d313
mavlink: don't send_mission_current if mission invalid
2022-02-04 09:40:25 -05:00
26dba1407b
Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission ( #19123 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-02-03 14:18:28 +01:00
f82c722653
Publish correct orbit status with goto ( #19102 )
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For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.
This commit corrects this by passing the default loiter radius as the guidance logic was using
2022-02-03 10:16:39 +01:00
917910f3e2
ekf: pass a float by copy instead of a constant ref
2022-02-02 17:43:25 -05:00
3077f27821
ekf: use float instead of Vector2f for innov gate in pos/vel fusion
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We always use the same innovation gate for X and Y anyway
2022-02-02 17:43:25 -05:00
5fb0084524
ekf2: remove unused shared fields for last velocity observation and variance
2022-02-02 17:43:25 -05:00
8a0581516c
ekf2: don't store _auxvel_sample_delayed
2022-02-02 17:43:25 -05:00
452b5e94b4
ekf2: don't store _drag_sample_delayed
2022-02-02 17:43:25 -05:00
138ff7a316
sensors: ensure that best accel/gyro is in bounds
2022-02-02 17:14:46 -05:00
07c273fc31
sensors/vehicle_angular_velocity: print full sensor_selection if device id not found
2022-02-02 17:14:46 -05:00
2fc95bb369
Rebase fix
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Use getnavspeed_2d for groundspeed
2022-02-02 17:16:19 +01:00
3a9c5c3178
Use acceleration to pass path curvature
2022-02-02 17:16:19 +01:00
e2741f988a
Add interface for passing path tangent and closest point directly
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This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
2022-02-02 17:16:19 +01:00
88ffc177f7
ekf2: utils add getEulerYaw() that uses the best rotation sequence
2022-02-02 08:54:03 -05:00
c3e0b93fc8
ekf2: remove unnecessary inlines
2022-02-02 08:50:49 -05:00
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector
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- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com >
2022-02-01 17:50:19 -05:00
e387f302f9
mavlink: streams/COMMAND_LONG don't send internal vehicle_commands
2022-02-01 09:15:10 -05:00
a4206ba553
logger: log excluded optional topics
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Can be displayed with:
ulog_info <file> -m excluded_optional_topics
2022-02-01 08:40:02 +01:00
2b1229786e
Multi instance SHT3x driver support
2022-01-31 21:38:26 -05:00
ed475ca324
SHT3x driver
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SHT3x driver, clean code
changes leading to merge TFHT with CUAV hygrometer
Delete humidity_temperature.msg
Update CMakeLists.txt
rename 'atmosphefir_quantities' to 'hygrometers'
fix logging
removed cmake files
fix PR issues
2022-01-31 21:38:26 -05:00
e554f0174d
Format whitespace and group checkall() methods together in geofence class.
2022-01-31 21:01:03 -05:00
ae0bb8371d
Commander: message planned battery action with warning together
2022-01-31 20:27:06 -05:00
973116c7a4
commander_params: clarify failsafe delay procedure description
2022-01-31 20:27:06 -05:00
cd560da57c
Commander: correct battery failsafe message severity level
2022-01-31 20:27:06 -05:00
405852b5c8
Commander: only disallow RC override during battery failsafe delay
2022-01-31 20:27:06 -05:00
5ec21835a4
Commander: ensure low battery failsafe flying unatended without GPS
2022-01-31 20:27:06 -05:00
bresch