430be08131
Add payload tx/rx timeouts to DDS
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* Add tx/rx timeouts
* Code style & tx default timeout
* Clarify TX/RX disable value
2025-02-14 14:54:42 +01:00
98cba19f50
esc_battery: report temperature
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-02-11 21:17:53 -05:00
975ec30c9c
uxrce_dds_client: add DDS message versioning
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This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
2025-02-11 13:19:25 +01:00
136f9f48fc
FW Position controller: transform RWTO_PSP to rad when used ( #24312 )
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-11 12:12:11 +01:00
2b75d2e738
run fog check independently from stuck check
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
8cedef2dc4
further cleanup
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
2c4d38e303
fixed mistake
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
806500fc4a
further improve logic
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
73ade6d05c
range finder: remove potential deadlock
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
35da86c85a
improve unit tests for range fog detection
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
ce64263ce7
publish validated airspeed topic ( #24302 )
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* publish validated airspeed topic
* fix typo
2025-02-07 14:44:48 +01:00
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
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
8d296a50f9
FlightTask: properly initialize EKF reset counters
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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
bd2a009217
commander: remove MC nav test
2025-02-05 11:58:04 -05:00
9e5cfa330a
Commander: Quick calibration supports mag too
2025-02-04 21:58:03 -05:00
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
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
f142363575
HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes
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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
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
Alexander Lerach