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473be910f2ab139fa6c6feac88f05a6a340c15ef
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16348 Commits
Author SHA1 Message Date
Silvan Fuhrer 473be910f2 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Silvan Fuhrer b17f73584d VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
JaeyoungLim 144a5c2e14 Fix tailsitter control frames (#21573) 2023-06-02 10:15:23 +02:00
Silvan Fuhrer 4a54c0cc74 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:15:23 +02:00
Beat Küng e018bd09da WIP commander+mavlink: implement MAVLink standard modes 
# Conflicts:
#	src/modules/mavlink/mavlink
 2023-05-10 11:29:30 +02:00
Beat Küng 66d5315e8f commander: add config overrides 2023-05-10 11:29:30 +02:00
Beat Küng c99330e6db commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-05-10 11:29:30 +02:00
Beat Küng af62227a83 commander: implement external modes and mode executors 2023-05-10 11:29:29 +02:00
Silvan Fuhrer ab71ef4447 FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Silvan Fuhrer 4cd078409d AirspeedValidator: disable innovation checks if lpos invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-08 21:46:45 -04:00
Mathieu BrescianiJosh HendersonMatthias Grob
 		1e4fcfc614 mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
Julian Oes 636c3c069f gimbal: make device ID a clear out argument 
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-08 07:06:37 +02:00
Julian Oes ddfc2986dc mavlink: flow control param needs reboot 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-07 21:48:27 -04:00
Silvan Fuhrer d2ca763d23 Navigator: set cruise_speed to default on entering new mode (#21503) 
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-05 15:53:17 +02:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
PX4 BuildBot e8d12e26c2 Update submodule mavlink to latest Mon May 1 12:39:14 UTC 2023 
- mavlink in PX4/Firmware (487c2b03cae972f42a9fe7c397f6949fed63ca3d): https://github.com/mavlink/mavlink/commit/d6d86d3f0c90a67c275d6833931f7c712b858dba
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - Changes: https://github.com/mavlink/mavlink/compare/d6d86d3f0c90a67c275d6833931f7c712b858dba...3ee5382d0c96134b0e1c250d8c2d54bfed0166fa

    3ee5382d 2023-04-20 Peter Barker - common.xml: exclude any stored home location from MISSION_CURRENT.total (#1976)
e0f59ae2 2023-04-13 Hamish Willee - Remove WIP from gimbal device messages/commands (#1973)
181346b5 2023-04-12 Peter Barker - common.xml: remove MAV_CMD_ACK (#1972)
 2023-05-01 11:11:15 -04:00
Julian Oes 3f13a6e787 gimbal: implement gimbal_device_id 
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-01 09:02:25 -04:00
Daniel AgarandPX4BuildBot f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
murata,katsutoshi 4bb4bc185b commander: level calibration delete unused SENS_BOARD_ROT param access 2023-04-30 21:36:43 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 98a8d080b6 ekf2 params: fix my bad english 2023-04-28 22:31:17 -04:00
bresch 2a2e43b620 ekf2: move flow fusion activation from AID_MASK to OF_CTRL 2023-04-28 22:31:17 -04:00
bresch 39c2f95669 ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL 2023-04-28 22:31:17 -04:00
Andrew Wilkins cdc717be53 Speed reset when switching flight modes (#21414) 
* speed reset between flight modes

* no whitespace
 2023-04-27 17:32:43 +02:00
Silvan Fuhrer bfc1e36f45 Standard: fill att_sp.thrust[0] with _pusher_thr value during transition to FW (#21520) 
Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-27 17:30:36 +02:00
Yannick Fuhrer f76399be5e vtol_type: scale VT_TRANS_TIMEOUT with air density (#21509) 2023-04-27 09:22:04 +02:00
Julian Oes 0afd93a9e9 gimbal: add control setter and status 
This adds the ability to manually set who has primary control over a
gimbal and also adds printing it as part of the status.

This is helpful, especially while working on the QGC gimbal v2
implementation.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-04-26 08:20:34 +02:00
Silvan Fuhrer 08782a0837 reset vroi when resetting misson on landing and run set_current_mission_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Silvan Fuhrer 55faa8cb2d mission: only run update_mission() if mission is updated, not when we want to reset 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Hamish Willee 51f71909d4 Update ekf2_params.c - typo EKF2 aid mask 2023-04-19 17:11:47 -07:00
Eric Katzfey 018ca6b49d VOXL2 board support updates (#21426) 2023-04-19 11:21:02 -04:00
Silvan Fuhrer b874eaf5f9 VTOL: remove deprecated VT_B_TRANS_THR 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s 
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer 885bb7659b navigator_main: orbit in FW: get_cruising_speed() (#21484) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-18 16:01:24 +02:00
Matthias Grob 5c1e0ddd96 FlightTaskTransition: use new 2D rotation 2023-04-15 21:57:40 +02:00
Matthias Grob 7ebd6cc74f FlightTaskManualPosition: use existing stick library rotation 2023-04-15 21:57:40 +02:00
Matthias Grob 7b850a91b4 Sicks: use new 2D rotation 2023-04-15 21:57:40 +02:00
Matthias Grob 43850c24a1 AttitudeControl: remove unnecessary scope operator 2023-04-15 21:57:40 +02:00
Matthias Grob 1e94ad19c0 FlightModeManager: rework task starting 
with the goal to make it more clear and the error only appear when
armed but every time the running task doesn't actually match
the mapping inside the start_flight_task() function.
 2023-04-15 16:45:32 +02:00
JaeyoungLim b02a785033 microdds: add the position_sp_triplet to the dds topics (#21449) 
- Position setpoint triplets can be useful for offboard processes to understand the intention of navigator
 2023-04-14 13:37:45 -04:00
Silvan Fuhrer da519573d4 FWPositionControl: trim throttle calc: guard against min/max=trim airspeed (#21469) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-14 11:55:23 +02:00
Silvan Fuhrer bc560ddddb RTL: fix Mission RTL vs normal RTL (#21464) 
* Navigator: on_mission_landing() only can return true if currently in mission mode

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

* RTL: reset RTL state when not in RTL nav_state

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

* Navigator: fix mission vs. normal RTL

- remove extra state _should_engange_mission_for_landing from rtl and have
this logic outside of RTL where Navigator decides on running mission RTL or normal RTL
- fix logic in Navigator to decide mission RTL vs normal RTL

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

* Mission: land_start(): fix decision if already on mission landing

Simply checking landing() is not enough, as that is not reset until
set_current_mission_index(get_land_start_index()) later in the function.
Instead ask Naviator about it (on_mission_landing()).

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

* Navigator: only update _shouldEngangeMissionForLanding once, to not set it to false after VTOL backtansition

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-14 09:49:47 +02:00
Thomas Stastny 82fd2987c9 fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
Beat Küng 989d9243b7 fix control_allocator: correct PRINT_MODULE_USAGE_NAME 2023-04-13 07:46:09 +02:00
Beniamino Pozzan 98026a3e10 gz_bridge: fix missing orientation and frames in odometryCallback (#21348) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-04-12 22:46:16 +02:00
Daniel Agar 1234aae3df gimbal: output RC fix actuator_controls_2 -> gimbal_controls regression (#21460) 
- small typo introduced in https://github.com/PX4/PX4-Autopilot/pull/20837
 2023-04-11 22:03:42 +02:00
Damien SIX 958c202137 fix timesync source for DDS protocol 2023-04-11 09:13:48 +02:00
Shaun C ab1e0caae9 Add NAV_CMD_DO_SET_ACTUATOR to mission commands 2023-04-11 08:12:18 +02:00
Claudio Micheli 9821513a0a sensors module: add 3 decimals to all the type:float params 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2023-04-11 08:11:04 +02:00