Alexander Lerach
047578a844
Disarm PWM ESCs before reboot
2025-02-10 18:16:48 +01:00
chfriedrich98
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
Bertug Dilman
ce64263ce7
publish validated airspeed topic ( #24302 )
...
* publish validated airspeed topic
* fix typo
2025-02-07 14:44:48 +01:00
mahimayoga
69d95a6664
sf45: separate sensor yaw variable into FRD and sensor frames for clarity.
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Obstacle map is created in sensor frame, but scaling for vehicle orientation is done in vehicle FRD frame.
2025-02-07 13:28:17 +01:00
mahimayoga
093b379b6b
sf45/collision-prevention: replace repeated code with ObstacleMath library functions.
2025-02-07 13:28:17 +01:00
Pedro Roque
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
Marco Hauswirth
de1ade8eb8
sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1
2025-02-06 23:47:32 -05:00
Alexander Lerach
fd175d619c
boards/modalai/voxl2/target: remove trailing spaces, consistent tabs/spaces in files
2025-02-06 23:43:34 -05:00
bresch
8d296a50f9
FlightTask: properly initialize EKF reset counters
...
This fixes a race condition when switching from a flight mode that is
not a flight task (e.g.: stabilized). In this case, the reset counters
were initialized to 0 and deltas were applied to the first setpoints if
the EKF had any of its reset counters different from 0.
2025-02-05 13:21:32 -05:00
Junwoo Hwang
de650cab9e
boards/matek/h743-slim: change parameter path to MicroSD
2025-02-05 13:09:02 -05:00
Daniel Agar
bd2a009217
commander: remove MC nav test
2025-02-05 11:58:04 -05:00
alexklimaj
0faec9b3e7
boards: ARK Flow MR
2025-02-04 22:00:14 -05:00
Hamish Willee
9e5cfa330a
Commander: Quick calibration supports mag too
2025-02-04 21:58:03 -05:00
Peter van der Perk
64d8f9a3c6
cmake: for vscode launch fallback to gdb-multiarch
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Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead
2025-02-03 23:12:30 -05:00
Jacob Dahl
90a806f5f8
ark: v6x: update net config ( #24281 )
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* ark: v6x: disable net binary config, update default net config
* added back CONFIG_IPCFG_BINARY=y
---------
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
2025-02-03 10:10:02 -07:00
mahimayoga
48c0992a7d
sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data.
...
yaw_cfg is now read into the obstacle_distance message as the angle_offset. The offset is computed once at init and applied to each measurement.
2025-02-03 17:17:35 +01:00
mahimayoga
31bff3e5bb
sf45: change handle_missed_bins() function logic.
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To simplify logic for wrap-around cases and cases in which bins outside the FOV may be filled. Bin indices are offset such that the 0th bin is the first bin within the sensor FOV. This way we can always fill bins from smallest to largest index.
2025-02-03 17:17:35 +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
Julian Oes
a9214b3aa3
gimbal: don't spoof gimbal device ( #24271 )
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The current approach was wrong because the gimbal protocol now
handles the case properly where the autopilot is in charge of a
non-MAVLink gimbal.
This means that we don't need to send message "as if we were a gimbal
device" and instead set thet gimbal_device_id to 1 (up to 6) to indicate
we are in charge or a non-MAVLink gimbal.
2025-01-31 12:59:41 +13:00
Matthias Grob
4c2e69b2e6
estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration
2025-01-30 18:45:10 +01:00
Matthias Grob
f142363575
HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes
...
Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
2025-01-30 18:45:10 +01:00
bresch
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
Sam 3 Firestorm
1eb9d05f69
Gazebo classic: report correct limits for H480 gimbal yaw ( #24269 )
2025-01-29 18:37:00 +01:00
Balduin
96105cacc0
SIH airframes: clean up configs
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- set SIH_L_ROLL that agrees with CA_* rotor geometry
- remove unnecessary params & comments
- clarify that ailerons are single channel
2025-01-29 16:22:43 +01:00
Silvan
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
Silvan
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
Matthias Grob
7e47605871
batteryCheck: separate event messages for low, critical and emergency battery states
2025-01-29 15:32:47 +01:00
Balduin
41c4933e10
add standard vtol airframe
2025-01-29 11:15:00 +01:00
Bertug Dilman
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed ( #24249 )
2025-01-28 14:33:15 +01:00
Silvan Fuhrer
58d3e1ea8e
test: in VTOL integration test use VTOL_LAND ( #24261 )
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-28 11:22:51 +01:00
Marco Hauswirth
4df65c133e
add cs_baro_fault to switch to fallback baro if available ( #24260 )
2025-01-28 10:37:16 +01:00
Peter van der Perk
92b1f51623
tropic: Fix runtime error on new GCC
2025-01-27 14:20:16 -05:00
Peter van der Perk
dc3f6a1608
fmu-v6xrt: Fix runtime error on new GCC
...
New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized.
This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function
2025-01-27 14:20:16 -05:00
Balduin
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
Matthias Grob
165f644580
control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description
...
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
2025-01-27 08:43:11 +01:00
Matthias Grob
c1cab2d4e0
control_allocator: add unit for slew rate and reword description
2025-01-27 08:43:11 +01:00
bresch
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
alexklimaj
c3ba39f931
dshot: remove dshot 1200
2025-01-23 23:50:50 -05:00
cuav-liu1
1aab194f9e
boards: fix 7-nano pwm voltage control pin not initialized
2025-01-23 15:58:49 -05:00
Silvan Fuhrer
d0042aa275
FW defaults: remove EKF2_GPS_CHECK custom FW setting
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We want to align the default over all vehicle types for
this param. There are still some thresholds that are
increased for FW.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-23 15:56:52 -05:00
Alex Klimaj
07e7c64e60
drivers/power_monitor/ina238: retry if read fails
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* ina238: retry if read fails
* ina238: increase retries and only publish not connected if register check fails
* ina238: use I2C resets
2025-01-22 15:32:26 -05:00
Daniel Agar
6322ebc3db
rcS: shift sensors + EKF startup earlier
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- we want the drivers, sensors hub, and estimator running as soon as possible to initialize and avoid commander false positives complaining about missing data
2025-01-22 15:27:56 -05:00
PX4 BuildBot
752b25235c
boards: update all NuttX defconfigs
2025-01-22 14:46:36 -05:00
PX4 BuildBot
1aa83d954b
update all px4board kconfig
2025-01-22 14:46:24 -05:00
Julian Oes
e3b98e6ed2
Tools: remove unused/wrong define and fix comment
2025-01-22 11:26:10 -05:00
Roman Bapst
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
RomanBapst
57fdda597b
vtol_takeoff: store altitude on takeoff and don't use home position altitude
...
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
PavloZMN
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
bresch
caaae6ed51
ekf2: allow sideslip fusion to always start with airspeed fusion
...
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
