3b828e157a
MC att: clarify prioritization algorithm
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Especially rename "mix" which is just the delta yaw angle
2025-01-30 11:28:26 +01:00
ddf591c4f5
Navigator: use FLT_EPSILON instead of 0.0001f for >0 float comparison
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-29 15:42:51 +01:00
2f2e56c097
Navigator: replace custom NAV_EPSILON_POSITION with FLT_EPSILON
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-29 15:42:51 +01:00
7e47605871
batteryCheck: separate event messages for low, critical and emergency battery states
2025-01-29 15:32:47 +01:00
41c4933e10
add standard vtol airframe
2025-01-29 11:15:00 +01:00
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed ( #24249 )
2025-01-28 14:33:15 +01:00
4df65c133e
add cs_baro_fault to switch to fallback baro if available ( #24260 )
2025-01-28 10:37:16 +01:00
5bca71791a
SIH: clean up control surface configuration ( #24205 )
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* fix sign error in appropriate place
In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the
control surface deflection signs in generate_fw_aerodynamics to make the
1103 airframe work correctly. However, this breaks the 1101 airframe,
introducing sing errors there.
So, here the change in generate_fw_aerodynamics is reverted to the state
before PR #24175 . Instead, the signs are set correctly by using
the HIL_ACT_REV bitfield in the respective airframe config files.
* match control surface parameters to SIH model
2025-01-27 16:52:29 +01:00
165f644580
control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
2025-01-27 08:43:11 +01:00
c1cab2d4e0
control_allocator: add unit for slew rate and reword description
2025-01-27 08:43:11 +01:00
c76e74338b
ekf-replay: fix airspeed replay
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If available, the EKF uses airspeed_validated, not airspeed
2025-01-26 23:05:39 -05:00
045c8d9831
Mission feasibility checks: make adding new check less error prone ( #24241 )
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* make adding new feasibility checks less prone to errors
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* Update src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-22 16:56:31 +01:00
57fdda597b
vtol_takeoff: store altitude on takeoff and don't use home position altitude
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as vehicle does not need to be close to home position
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-22 14:03:18 +03:00
ee150a15b4
Optical Flow: add unit testes for only using downward distance sensor ( #23266 )
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* Test for Optical Flow checks correct camera position
* Formatting fixed
* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* For test GIVEN/WHEN/THEN added
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-22 11:58:07 +01:00
caaae6ed51
ekf2: allow sideslip fusion to always start with airspeed fusion
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This allow sideslip fusion to start during VTOL front transition or even
on a multirotor with a vertical stabilizer and an airspeed sensor for example.
2025-01-22 09:33:16 +01:00
a3215419d7
gz: remove model spawn offset ( #24165 )
2025-01-22 12:47:25 +13:00
918eca8de4
gz: increase timeout for service request ( #24164 )
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* gz: increase timeout for service request
* change error messages to warnings, specify retrying
* fix typo
2025-01-21 22:14:38 +01:00
f36b45b2ff
VehicleOpticalFlow: use 32bit integer for dt
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-21 16:48:33 +03:00
25e76883b7
Integrator: use 32bit integer to store dt to avoid overflow
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-21 16:48:33 +03:00
af062c85eb
Revert "FLightTaskAuto: limit nudging speed based on distance sensor"
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This reverts commit 97cb933cff
2025-01-21 09:59:47 +01:00
7a9608e54b
increase EKF2_RNG_FOG for FW and VTOL
2025-01-20 14:43:30 -05:00
4a5aa1e947
Fix max-hagl restriction to position/altitude control ( #23667 )
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* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
2025-01-20 15:50:21 +01:00
0d22905558
VTOL params: fix param name
2025-01-20 15:50:06 +01:00
b1ca0495e2
ekf2: yaw estimator additional validity checks
2025-01-20 09:45:41 +01:00
1eb9434b8c
stream ATTITUDE_QUATERNION in low bandwidth mode
2025-01-17 11:20:12 +01:00
f693fab7c8
rc_update params: remove comment about default static mixing
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Was added back in 2014:
7441efde47
2025-01-17 08:18:42 +01:00
c99cb6e94b
ekf2: do not auto-generate sideslip measurement jacobian
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This is to trade a bit of CPU load for more flash space.
2025-01-15 11:05:50 -05:00
e01fef755a
Control allocation: make heli rpm control an optional build flag disabled by default
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to save flash.
The rpm capture dirver is also disabled on default releases
2025-01-15 14:35:35 +01:00
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
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
9f8325e8e0
Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025
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- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): https://github.com/mavlink/mavlink/commit/5e3a42b8f3f53038f2779f9f69bd64767b913bb8
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/619947d8bc29e80eecff18b0f4fecc42d9e171dd
- Changes: https://github.com/mavlink/mavlink/compare/5e3a42b8f3f53038f2779f9f69bd64767b913bb8...619947d8bc29e80eecff18b0f4fecc42d9e171dd
619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#2197 )
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196 )
2025-01-14 21:45:04 -05:00
12a9087e92
ekf2: constrain max variance by zero innovation update
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Clipping the variance of the covariance matrix has a destabilizing
effect as it increases the correlation between the states.
2025-01-14 21:42:33 -05:00
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
2506bd3b5d
RpmControl: simplify the entire control logic
2025-01-14 14:55:34 +01:00
1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
e4e975806f
Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-14 02:19:49 -05:00
0fb8463b79
logger: always log can_interface_status ( #24071 )
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* logger: always log can_interface_status
* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
2025-01-13 10:15:40 -07:00
879e0ea9b1
MC-hte: use allocated thrust as input for hover thrust estimator.
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Improves estimates on vehicles where thrust is often saturating.
2025-01-13 11:56:09 +01:00
28fa044386
MC-stabilized: rescale thrust input to hover thrust at zero stick input
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Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
2025-01-13 11:56:09 +01:00
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
a231fafafa
SIH: Add Standard VTOL Airframe ( #24175 )
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* add standard vtol airframe to SIH.
mostly took changes from 4d930bde
2025-01-09 15:40:06 +01:00
cbbbbc9dfa
logger: fix file open issue if crypto algorithm is disabled
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move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
2025-01-09 07:45:09 +01:00
bresch