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27364 Commits

Author SHA1 Message Date
Stockton Slack
36d89df0a7 Fix load monitoring inconsistency bug 2024-07-22 10:33:39 +02:00
Daniel Agar
9ff6c4bf28 remove newlines 2024-07-19 18:25:43 -04:00
Daniel Agar
85de0ff227 boards: move ARK fmu-v6x/pi6x to dedicated RC drivers 2024-07-19 15:42:05 -04:00
Daniel Agar
3a3f04c0f4 drivers/rc: new standalone ghst_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar
7a6c4f0bfa drivers/rc: new standalone sbus_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar
561dceea7b drivers/rc: new standalone dsm_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
chfriedrich98
aa0dda7443 ackermann: fix naming conventions 2024-07-19 14:43:40 +02:00
chfriedrich98
f8bebd9e41 ackermann: implement pure pursuit lib 2024-07-19 14:43:40 +02:00
Matthias Grob
f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob
7f14110bb1 Fix missing newlines at the end of files 2024-07-19 14:33:36 +02:00
Roman Bapst
1b9f1b78e5
Added support for resetting wind states to external observation (#23277) 
* added support for resetting wind states to external observation

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* moved wind related functions into separate file

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* correctly compute variances

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* ekf2: implement wind reset

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* only reset wind on ground

* still use wind reset using airspeed when it wasn't initialized

* exclude func for rover, change reset interface

* handle wind reset in drag-fusion

* replace state reset with variance reset in sideslip/drag fusion

* remove resetWind function

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
 2024-07-19 14:33:08 +02:00
Daniel Agar
ca9948a84d msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio 
- this is used for more than just mag
 2024-07-18 16:39:18 +02:00
Daniel Agar
eac14b7db2 ekf2/commander: simplify navigation filter preflight checks 
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
 2024-07-18 16:39:18 +02:00
chfriedrich98
a42dc2165c add pure pursuit library 2024-07-18 13:25:05 +02:00
chfriedrich98
08c790217d battery: increase max value for battery thresholds 2024-07-18 09:46:58 +02:00
chfriedrich98
5083ec52ec battery: migrate parameters in .c file to .yaml file 2024-07-18 09:46:58 +02:00
Daniel Agar
f8f8ddc101 ekf2: optical flow update last hor vel timestamp on success 2024-07-17 14:46:48 -04:00
Daniel Agar
691fdf713c ekf2: airspeed update last hor vel timestamp if successfully updating all states 2024-07-17 14:46:48 -04:00
Daniel Agar
57c1ba545f ekf2: fake_hgt don't use fuseVerticalPosition helper 
- fake_hgt shouldn't update _time_last_hgt_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar
6fe0fa6d63 ekf2: fake_pos don't use fuseHorizontalPosition helper 
- fake_pos shouldn't update _time_last_hor_pos_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar
c5c27a87f1
ekf2: track last terrain fuse time and update logic 2024-07-17 10:16:32 -04:00
chfriedrich98
8c4620b77e
battery: simplify battery scale calculation (#23417) 2024-07-17 12:22:52 +02:00
bresch
81575049df ekf2: reword EKF2_GPS_CHECK param 2024-07-16 10:15:19 -04:00
Daniel Agar
f832ae688d ekf2: require valid filter vz for GPS vspeed check 2024-07-16 10:15:19 -04:00
bresch
20c0d3a096 ekf2: enable all GNSS checks by default 2024-07-16 10:15:19 -04:00
bazooka joe
b48aca10a0 mc_position_control: avoid calculating arw if not needed 2024-07-16 13:30:40 +02:00
Daniel Agar
397ff4a102 ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues 2024-07-16 11:10:58 +02:00
Daniel Agar
13b62a74d6 ekf2: optical flow adjust jacobian epsilon to avoid numerical issues 
- in the generated code there's a 1 / eps^2 term if the height and
   terrain estimates are the same
 2024-07-16 11:10:58 +02:00
Jacob Dahl
aa8a9e3a06 laser scan subscription optional 2024-07-16 11:07:03 +02:00
Jacob Dahl
fe5a07a96d gz: added x500_lidar model for publishing obstacle_distance 2024-07-16 11:07:03 +02:00
Daniel Agar
48f1687d3a ekf2: cleanup legacy EKF solution_status_flags 2024-07-16 10:11:27 +02:00
Daniel Agar
1cd7d54170
ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-07-15 12:50:51 -04:00
bresch
9d6c2baa90 ekf2-flow: only allow flow when in range 
Also, as the flow makes the link between range and horizontal velocity,
only allow it to start if at least one of the two is known. Otherwise
the EKF will struggle to estimate both values at the same time.
 2024-07-15 11:40:33 -04:00
Daniel Agar
8e5f28f834 ekf2: rng only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar
80ee622f77 ekf2: baro only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar
40349fa3dc ekf2: EV velocity control should own vertical velocity reset if height failing 2024-07-15 11:39:56 -04:00
Daniel Agar
177613eb68 ekf2: GNSS velocity control should own vertical velocity reset if height faiing 
- GNSS height control using the velocity sample directly is ignoring
   potential position offsets
 2024-07-15 11:39:56 -04:00
PX4 BuildBot
9bbfc8715e Update submodule mavlink to latest Mon Jul 15 12:39:00 UTC 2024 
- mavlink in PX4/Firmware (abcf9ca6f0aadc91b203342db689f07630ec0e3a): da3223ff93
    - mavlink current upstream: d65952bacc
    - Changes: da3223ff93...d65952bacc

    d65952ba 2024-07-05 Peter Barker - common.xml: correct description of GLOBAL_POSIITON_INT.relative_alt frame (#2131)
5fc2ff8e 2024-06-26 Hamish Willee - Add multiplier field to docs, if present (#2125)
a13d2317 2024-06-26 Roman Bapst - Added MAV_CMD_EXTERNAL_WIND_ESTIMATE to development (#2122)
d8af87fd 2024-06-19 jokalode - Update common.xml (#2116)
 2024-07-15 11:18:19 -04:00
Daniel Agar
e03aef616c
ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position) 2024-07-15 10:25:42 -04:00
Daniel Agar
a5a67315fd ekf2: optical flow magnitude check compensated 
- additionally don't use flow for reset if magnitude isn't acceptable
 2024-07-15 09:46:59 -04:00
Boris
be551097e0 mc_wind_estimator_tuning: Changed Quaternion package installed by requirements.txt 2024-07-15 11:40:12 +02:00
Daniel Agar
dc5f8118b0 ekf2: range finder cleanup duplicate logic 2024-07-15 11:37:36 +02:00
KonradRudin
59b96f4968
tecs: fast descend: do not shut down throttle while still climbing (#23397) 2024-07-15 10:42:43 +02:00
Liu1
b1b0032b8d
BMP581: Add Bosch BMP581 barometer (#23064) 
* BMP581: Add Bosch BMP581 barometer

* Copyright：fix copyright header year

* style: not use pointers and Bool returns, Check the failed condition return

* delay: Replace usleep() with ScheduleDelayed()

* definitions: Delete unused definitions

* comment: Delet redundant comments

* constants: Change to uppercase

* BMP581: run make format
 2024-07-14 14:08:20 -08:00
Claudio Chies
33be5d8356
Survey - fix of survey tracking problem on steep slopes (#23371) 
* initial working

* incoperated review
 2024-07-11 14:54:22 +02:00
Daniel Agar
9124a7b471 ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer 2024-07-10 21:20:47 -04:00
Daniel Agar
ac77049c47 ekf2: directly use IMU sample to find corresponding aid source sample 
- I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample
 2024-07-10 21:20:47 -04:00
Daniel Agar
f93dc61770 ekf2: use bias corrected angular velocity 
- avoid unnecessarily storing _ang_rate_delayed_raw
 2024-07-10 21:20:47 -04:00
Daniel Agar
75bb339d94 ekf2: remove warning events logging 
- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
 2024-07-10 10:43:55 -04:00
Daniel Agar
c29b4ff87e ekf2: apply astyle formatting and enforce 2024-07-10 10:43:55 -04:00