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Author SHA1 Message Date
Silvan FuhrerandMatthias Grob 4348dcce2a Navigator: loiter: remove unnecessary _loiter_pos_set (#21776) 
* Navigator: loiter: remove unnecessary _loiter_pos_set

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Navigator: loiter: remove commented line

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-06-30 15:40:20 +02:00
Matthias Grob a6d2c2cf5e Github Actions: add workaround for dubious ownership errors 
until I figure out what a better solution
would look like.
See
https://github.com/actions/runner/issues/2033
 2023-06-27 17:17:31 +02:00
Matthias Grob e5503480e3 GitHub Actions: use Debian 11 to build linux targets 
This solves the CI problem related to the required cmake version
described here:
https://github.com/PX4/PX4-Autopilot/pull/21737#pullrequestreview-1489844308

See https://github.com/PX4/PX4-containers/pull/332
for the container changes.
 2023-06-27 17:17:31 +02:00
Peter van der Perk e739afe362 MR-CANHUBK3 ADAP board support, add ADC support 2023-06-27 07:24:07 -04:00
Silvan Fuhrer e34993969b tiltrotor: expose tilting duration of backtransition in param 
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
Silvan Fuhrer 05489f9ecf tiltrotor: reduce BACKTRANS_THROTTLE_UPRAMP_DUR_S to 0.5s 
This reduces the motor ramp up time after a transitions is declared over.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
Silvan Fuhrer c26b699f8a tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s 
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-27 10:11:41 +02:00
Ramon Roche 98d8935034 drivers/barometer/invensense/icp201xx: increase delay after configuration (#21765) 
- fixes wrong altitude reporting
 2023-06-26 14:16:06 -04:00
bresch 8d1b0e45fa opt-requirements: bump SymForce version 2023-06-26 14:10:54 -04:00
bresch eb70c9f6f3 ekf2: update auto-generated code to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
bresch fdf7867a3e ekf2: update derivation to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
bresch c99f56f010 wind_estimator: update generated code to Symforce 0.9.0 2023-06-26 14:10:54 -04:00
bresch 73e5ff109c wind_estimator: update derivation to use SymForce 0.9.0 2023-06-26 14:10:54 -04:00
Matthias Grob 7e79d65aa4 mc_pos_control_params: clarify maximum vertical velocity parameters 2023-06-26 17:01:20 +02:00
Matthias Grob 439670444f mc_pos_control_params: more gain & velocity decimals, more clear wording 2023-06-26 17:01:20 +02:00
Matthias Grob a6a913bf25 mc_pos_control: remove trailing zeroes 2023-06-26 17:01:20 +02:00
Matthias Grob 54a351639c mc_pos_control: improve parameter metadata 
- Adapted descriptions to be more clear
- Adjusted some limits and decimals
 2023-06-26 17:01:20 +02:00
Matthias Grob d00ad1b815 mc_pos_control: separate parameter metadata into multiple files 
because the original file was almost 1k lines and
the order of parameters more historical than after topic.
 2023-06-26 17:01:20 +02:00
Matthias Grob 20d0661e87 HealthAndArmingChecks: disallow arming via parameter 
COM_ARMABLE is set to "Disabled" will prevent arming.
 This allows to set the parameter when ground demoing a drone or
 if it's in maintenance for safety reasons.
 2023-06-22 13:17:47 +02:00
Matthias Grob 173407581b HealthAndArmingChecks: reorder CMakeLists alphabetically 2023-06-22 13:17:47 +02:00
Sean Murphy 7ed90c6d0c ekf2: process_logdata_ekf.py fix reject_mag* and imu_coning* key errors 2023-06-21 21:08:43 -04:00
Josh Henderson a07d10704b ROMFS : POSIX Airframes reserve space for custom models 2023-06-21 21:06:07 -04:00
Matthias Grob 18d89e4bc1 lightware_lase_serial: fix pointer for enabling serial mode 
const char *data = "www\r\n";
Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0'

type of data: char const*
type of &data: char const**

So when we call
write(_fd, &data, strlen(data));
then strlen(data) == 5
and we send the 4 byte memory address of data
+ some additional random byte.

Correct is
write(_fd, data, strlen(data));
where char const* gets casted to const void * and we pass
the pointer to the content of data.

The fundamental problem here is write() not being typesafe.
 2023-06-21 15:59:12 +02:00
Thomas Debrunner fd267fb9a5 param save: Add a blocking API for param saves to be used from shell. 2023-06-21 08:19:52 +02:00
Silvan Fuhrer 18f0311161 Navigator: Mission: improve survey mission resume 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer 24b1ef93b2 Mission: reset mission on landing only if last item was reached 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer c6870006c7 Navigator: move disable camera trigger on mission inactivation to seperate function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Daniel Agar d9ae2ed7ac ekf2: regenerate yaw estimator symforce 
- remove underscore uppercase variable naming that can be problematic
 2023-06-19 21:00:25 -04:00
Silvan Fuhrer 2a48c1cb18 boards: disable gyro fft module for v4 to safe flash 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 16:22:42 -04:00
Beat Küng 65ad6afb08 Micro-XRCE-DDS-Client: update submodule 
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.
 2023-06-19 16:05:36 -04:00
Silvan Fuhrer 4632fbd600 FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Matthias GrobandSilvan Fuhrer 69aebe650b FixedwingRateControl: rework VTOL differential thrust saturation 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Matthias Grob 53b9e66c66 RateControl: allow setting individual saturation flags 
This helps for more complicated cases where certain axes are controlled
through and get feedback from a different allocator.
 2023-06-19 10:59:20 +02:00
Beniamino Pozzan 957a06a780 Fix enum for COM_RC_IN_MODE in failsafe 
add enum RcInMode

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-06-19 08:04:43 +02:00
Niklas Hauser 8fe65c6722 Driver: Refactor MCP23009 GPIO expander into uORB driver 2023-06-19 07:58:21 +02:00
Konrad 3303323971 mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL. 2023-06-16 14:21:32 +02:00
Matthias GrobandBeat Küng 053d3020b0 esc_calibration: handle timeout wraps better 
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2023-06-16 12:05:47 +02:00
Matthias Grob cfb24869e9 esc_calibration: allow to calibrate ESCs without battery detection 
Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.

Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
 2023-06-16 12:05:47 +02:00
Matthias Grob 4396b6e9f6 esc_calibration: adjust timing to work with all tested ESCs 
Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
 2023-06-16 12:05:47 +02:00
Matthias Grob 6929493134 esc_calibration: Improve readability and robustness 
- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
 2023-06-16 12:05:47 +02:00
Matthias Grob a28ad8e845 mixer_module: consistent PWM/oneshot calibration range 2023-06-16 12:05:47 +02:00
Matthias Grob 1ceca8f2cf actuator_test: condition order refactoring 2023-06-16 12:05:47 +02:00
Matthias Grob ffe0ec27e6 Unify MixingOutput constructor calls 
to make them easy to search for and check the arguments.
 2023-06-16 12:05:47 +02:00
Silvan Fuhrer fc357921fd navigator: send commands to anyone listening 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-12 09:41:28 +02:00
Junwoo Hwang 9b95330efc Github Issue: Replace Bug report to YAML 2023-06-09 21:18:28 -04:00
Junwoo Hwang 6b1f805b15 Issue Template: Move Feature request to YAML 2023-06-09 21:18:28 -04:00
Junwoo Hwang 89e8ba0b53 Issue Template: Switch to YAML for direct links 2023-06-09 21:18:28 -04:00
PX4 BuildBot bbc6ed43bd Update submodule sitl_gazebo-classic to latest Sat Jun 10 00:39:02 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (f9510557a6): https://github.com/PX4/PX4-SITL_gazebo-classic/commit/2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0
    - sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/0d53638452e6da4371c12599e1a649608361811e
    - Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0...0d53638452e6da4371c12599e1a649608361811e

    0d53638 2023-05-23 JaeyoungLim - Fix force visualization feature (#985)
9bfecb6 2023-05-22 JaeyoungLim - Fix readme displayed in github (#984)
 2023-06-09 21:17:46 -04:00
alexklimaj 51a4eafe0c ARKV6X sync with FMUV6X 2023-06-09 21:17:12 -04:00
Matthias Grob 94d2140a4f mixer_module: remove unnecessary init state 
That state only delayed the first arming by 50 miliseconds.
Was presumably a workaround for some issue very very early on.
See cc452834c0
 2023-06-09 21:15:08 -04:00