Eric Katzfey
73dbecadf1
Qurt: changed the mutex for I2C for the Qurt platform from a single mutex to one for each bus. ( #23531 )
2025-02-19 10:59:45 -05:00
chfriedrich98
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
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* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
Silvan Fuhrer
3c129aefa1
Add IC engine control module ( #24055 )
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Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
2025-02-18 17:15:32 +01:00
Silvan
b7b6d45e18
lib: remove bezier
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Signed-off-by: Silvan <silvan@auterion.com>
2025-02-18 14:33:16 +01:00
Silvan
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com>
2025-02-18 14:33:16 +01:00
bresch
e3fd50667d
Mag cal: automatically disable internal mags if external ones are available
2025-02-14 16:12:20 +01:00
Eric Katzfey
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds ( #24336 )
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- VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build
2025-02-14 00:49:09 -05:00
chfriedrich98
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
mahimayoga
093b379b6b
sf45/collision-prevention: replace repeated code with ObstacleMath library functions.
2025-02-07 13:28:17 +01:00
mahimayoga
cb332e047d
obstacle-math: add standard obstacle map functions.
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These functions help simplify repeated calculations accross driver and collision prevention files that are computing bins, angles and sensor offsets in obstacle maps.
2025-02-03 17:17:35 +01:00
Perre
f7dadd9b89
Remove inclusion of rotors in library to enable test ( #24286 )
2025-02-03 15:51:55 +01:00
Pedro Roque
b09340cc98
Control Allocator: Add option for metric allocation (skip normalization) ( #24199 )
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* add: metric allocation
* add: actual files
* rft: moved metric allocation to pseudo-inverse via flag with public method
* del: removed metric allocation test and added test in pseudo-inverse testing
* rft: deleted extra newline at the end of pseudo inverse test file
* feat: removed unnecessary log include
2025-01-20 13:30:51 +01:00
mahimayoga
ab46502cbd
obstacle-math: add unit tests for project_distance_on_horizontal_plane function.
2025-01-20 11:11:29 +01:00
mahimayoga
29f981f14c
collision-prevention: extract rotation scaling function into new ObstacleMath library.
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New library created for static and/or repeated code across collision prevention and driver files.
2025-01-20 11:11:29 +01:00
Mathieu Bresciani
8ecb76aba2
[Multirotor] add yaw torque low pass filter ( #24173 )
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co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com>
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
2025-01-15 14:02:28 +01:00
Jaeyoung Lim
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library ( #24196 )
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* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
2025-01-15 10:12:29 +01:00
Matthias Grob
b042f2101f
system_params: clarify SYS_HAS_MAG description
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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
Alex Klimaj
1043aebf5d
analog_battery: add option for filter ( #23987 )
2025-01-03 16:01:16 +01:00
Mahima Yoga
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
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
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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()
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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()
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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
Beat Küng
491ee01ac4
rpm_capture: add rpm capture driver, publising pwm_input (for now)
2024-12-19 07:30:25 +01:00
bresch
fa5a781e20
AlphaFilter: set time constant instead of alpha
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Then the update function can set the dt at every iteration if needed
2024-12-18 14:11:08 +01:00
bresch
37401d6fd1
AlphaFilter: allow setting dt in update call
2024-12-18 14:11:08 +01:00
Beat Küng
9e9d352eb2
mavlink: update submodule
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MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
2024-12-18 07:12:36 +01:00
Beat Küng
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
Silvan Fuhrer
4db55cd25f
mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-12-13 17:56:46 +01:00
Silvan Fuhrer
d7904b5f2c
mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-12-13 17:56:46 +01:00
Jacob Dahl
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
bresch
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
Claudio Chies
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
Matthias Grob
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
Matthias Grob
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
Claudio Chies
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
Claudio Chies
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
bresch
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
bresch
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
bresch
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
Matthias Grob
a280d67be8
PID: Fix test to respect integral updates being applied in the next iteration
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
2024-11-26 16:13:48 +01:00
Matthias Grob
f9bcbc31ae
PID: protect from division by zero because of dt
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
2024-11-26 16:13:48 +01:00
Matthias Grob
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
Matthias Grob
e047972cde
Add new C++ PID library
2024-11-26 16:13:48 +01:00
Silvan Fuhrer
2f65644aeb
mixer module: remove unused functions
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-21 11:57:50 -05:00
Claudio Chies
db13b9cb50
CollisionPrevention: Added Case where velocity gets reduced to zero if we are closer to the obstacle than the minimal distance
2024-11-21 11:36:03 +01:00
Matthias Grob
bbc59dcde7
CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message
2024-11-21 11:36:03 +01:00
Matthias Grob
1410325c62
CollisionPrevention: follow parameter variable naming convention
2024-11-21 11:36:03 +01:00
Matthias Grob
30eec33e09
CollisionPrevention: slightly simplify _transformSetpoint()
2024-11-21 11:36:03 +01:00
Matthias Grob
399a8ad5b7
CollisionPrevention: fix early return and use unified bin count + array size 72
2024-11-21 11:36:03 +01:00
