b30ea40c6d
SIH: set GNSS delay to 0 as delay is not simulated
2024-11-29 14:21:29 +01:00
cd18138b1c
SIH: add transport rate acceleration to local acceleration
2024-11-29 14:21:29 +01:00
674aa474e7
SIH: use LatLonAlt class
2024-11-29 14:21:29 +01:00
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
7cf42727fb
lla: add functions to convert from and to ECEF
2024-11-29 14:21:29 +01:00
7ee69d616d
SIH: rework FW ground contact
2024-11-29 14:21:29 +01:00
5d33971712
SIH: refactor MC ground contact
2024-11-29 14:21:29 +01:00
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
5d7b734bc9
SIH: ellipsoidal earth model
...
SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-11-29 14:21:29 +01:00
ce3fcd503f
navigator: unify timeout waiting for payload to execute mission item command
...
Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
2024-11-28 20:23:36 +01:00
17c24bafbc
mission_block: simplify timeout check
2024-11-28 20:23:36 +01:00
ec1cf04bc9
mission_block: fix style, shorten debug message strings
2024-11-28 20:23:36 +01:00
8b3c78a0a4
Navigator: add optional delay after gimbal mission items
2024-11-28 20:23:36 +01:00
ab320017cc
boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 ( #24006 )
...
adds the `emlid_navio2_arm64` build target - supports 64-bit OS on Raspberry Pi 4,5 (#24006 )
2024-11-28 08:44:44 -08:00
95b5859913
boards: add SPA06 to KakuteH7/H7mini/H7v2 boards
2024-11-28 12:18:44 +13:00
def6ab5a6b
drivers: add SPA06
2024-11-28 12:18:44 +13:00
f7b62961cb
drivers: Copy SPL06 to SPA06
2024-11-28 12:18:44 +13:00
1b6215fcf3
readme: update ci badge
2024-11-27 17:41:43 -05:00
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
68cbbaab92
Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive
2024-11-27 13:51:10 -08:00
22c1f07f0c
container: use PX4 tags whiel tagging images
2024-11-27 16:42:13 -05:00
f2bbb6f407
ci: disable publishing PR images to docker hub
...
Docker hub is rate limiting our API access, as a result tests are
failing for no apparent reason. This change will decrease the API calls
by at least 80%
We have applied for an Open Source account with greater API limits, I
will come back to this and update as necessary when and if they grant us
access to their program.
2024-11-27 16:42:13 -05:00
85bc8ef885
SIH-plane: fix actuator mapping
2024-11-27 11:14:56 -05:00
8a9bac29a2
SIH-FW: allow pitching up during takeoff
...
Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
7236ef2d17
SIH-FW: fix aileron and elevator signs
...
This broken when changing from mixer files to the control allocation module.
2024-11-27 11:14:56 -05:00
1dad25b763
SIH: do not assume being a tailsitter when creating airspeed measurement
2024-11-27 11:14:56 -05:00
a280d67be8
PID: Fix test to respect integral updates being applied in the next iteration
...
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
f9bcbc31ae
PID: protect from division by zero because of dt
...
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
e047972cde
Add new C++ PID library
2024-11-26 16:13:48 +01:00
e194a52907
ekf2: derivation.py remove sideslip small angle approximation
2024-11-25 08:53:57 +01:00
7462e98e16
ci: publish pr images to registry
2024-11-22 16:08:12 -05:00
3240cf4dc7
ci: push px4-dev container to docker hub registry
2024-11-22 16:08:12 -05:00
f2bd3105ad
ci: tag container main & main-date
...
Make sure we always have a { branch name } container tag in addition to
a { branch name + date } tag. This way we have a rolling { branch name }
of the main and release branches
2024-11-22 16:08:12 -05:00
fb42770131
Tools: instal ccache on ubuntu
2024-11-22 16:05:58 -05:00
14468d49c1
ci: flash analysis updates
...
* updates comment instead of posting a new one each time
* runs on dronecode infra
2024-11-22 08:49:27 -08:00
14fe6c2167
ekf2: resetHeightTo -> resetAltitudeTo
...
The vertical position state is now an altitude, not just a local height
2024-11-22 15:13:47 +01:00
93c690f133
ekf2: do not inline getPosition
2024-11-22 15:13:47 +01:00
a224d38e52
lla: move implementation to cpp file
...
This reduces flash usage
2024-11-22 15:13:47 +01:00
aeb182a8ed
ekf2: rename resetAltitudeTo to initialiseAltitudeTo
...
This is to better show that the altitude is also used to set the origin.
2024-11-22 15:13:47 +01:00
30d98885b7
update change indicator
2024-11-22 15:13:47 +01:00
814a2706f5
ekf2: compensate for coriolis and transport rate accelerations
2024-11-22 15:13:47 +01:00
842212df6c
ekf2: update earth rate also without GNSS
2024-11-22 15:13:47 +01:00
6becccb217
update change indicator
2024-11-22 15:13:47 +01:00
a492457322
ekf2-derivation: build state struct based on type
2024-11-22 15:13:47 +01:00
13c5bd4412
ekf-flow: do not reset position when resetting to flow
...
Flow only provides velocity information
2024-11-22 15:13:47 +01:00
b19a6ee3b5
ekf2: store position state as lat/lon/alt
...
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
cf34b9d574
ci: fixes tag uploads and container tagging
2024-11-21 20:48:27 -05:00
0fca8e3a85
ci: build only if push event
2024-11-21 20:46:40 -05:00
bresch