4696338d29
Add gz model for quadtailsitter ( #23943 )
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* Add gazebo airspeed plugin and add a tailsitter model
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Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com >
2024-12-02 17:27:23 +01:00
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
be2a3afb83
mecanum: update parameter description
2024-12-02 10:54:43 +01:00
ff55313b0b
mecanum: update current position in main file
2024-12-02 10:54:43 +01:00
369ce37d65
mecanum: adjust speed setpoints to always be feasible
2024-12-02 10:54:43 +01:00
2eda5659eb
mecanum: fix inverse kinematics
2024-12-02 10:54:43 +01:00
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
54abc59283
mecanum: deprecate RM_MAN_YAW_SCALE
2024-12-02 10:54:43 +01:00
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
7e705bbf55
differential: add slow down effect in mission mode
2024-12-02 10:44:22 +01:00
8880569b31
differential: adjust speed setpoint based on yaw rate setpoint
2024-12-02 10:44:22 +01:00
8b1975cb98
SIH: lower IMU noise before takeoff
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This speeds-up the EKF alignment
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
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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
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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
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
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
8a9bac29a2
SIH-FW: allow pitching up during takeoff
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Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
7236ef2d17
SIH-FW: fix aileron and elevator signs
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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
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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
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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
14fe6c2167
ekf2: resetHeightTo -> resetAltitudeTo
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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
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This reduces flash usage
2024-11-22 15:13:47 +01:00
aeb182a8ed
ekf2: rename resetAltitudeTo to initialiseAltitudeTo
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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
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Flow only provides velocity information
2024-11-22 15:13:47 +01:00
Perre