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Author SHA1 Message Date
chfriedrich98
47a9b552f8 ackermann: centralize mode management, resets and checks 2025-05-26 15:56:24 +02:00
chfriedrich98
cd486b2da6 ackermann: update position control 2025-05-26 15:56:24 +02:00
chfriedrich98
45540455fe ackermann: separate actuator control 2025-05-26 15:56:24 +02:00
Silvan
ea94bc11eb DDS topics: add FW highlevel interfaces 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
mahima-yoga
8a5e5a411a msgs: Clean up message definitions and descriptions 
- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers
 2025-05-26 14:47:38 +02:00
Silvan
8c1f7ec7c0 rename FWPositionController to FWModeManager 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan Fuhrer
259e7d1d53 FWModeManger: remove throttle spike during flaring by waiting with height rate change 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan Fuhrer
2600946172 FW Attitude Controller: Wheel controller rework 
add RunwayControl messge to pass wheel steering controls to wheel controller

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

Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff

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

msg/RateCtrlStatus: remove unused wheel_rate_integ field

The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.

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

wheel rate controller: use speed scaler quadratically on integrator

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

wheel yaw controller: use a time constant of 0.1

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

FW Attitude Controller: lock heading setpoint for wheels to initial heading

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan
a849ab9de5 FW: Re-organize param sections for FW params 
Params that are used by FW Mode Manager
- FW NPFG: NPFG params, should be renamed to FW Lateral Control once moved to the lat/lon controller
- FW Auto Takeoff
- FW Auto Landing

Params used by Fw Lat/Long Controller:
- FW Lateral Control
- FW Longitudinal Control

Params used by both:
- FW General

Params used by Performance model:
- FW Performance (could be moerged with FW General?)

Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan Fuhrer
83280dcfec TECS: protect against NAN in pitch integrator by limiting tas input to min tas 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
mahima-yoga
817b0191e7 NPFG: add unit tests and add back feasible bearing check back 2025-05-26 14:47:38 +02:00
Silvan
0ea109ff5d perfromance model: add FW_AIRSPD_FLP_SC to reduce with flaps 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan
3e3f10f5bc VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Silvan
0276f66b18 TECS: harden interface for NAN altitude input 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
RomanBapst
779a55c6dc FW Position Controller rework 
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-05-26 14:47:38 +02:00
murata,katsutoshi
52f0ef927d
dataman_client: Combine type declarations and processing (#23593) 2025-05-24 13:24:13 -08:00
Hamish Willee
b4b3c2a4a1
VehicleCommand.msg - update to new docs standards (#24855) 2025-05-24 16:03:04 +10:00
Alexander Lerach
134ee7b640 dds: clean up timesync 2025-05-23 11:30:55 +02:00
Alex Klimaj
31ab3f0ac9
boards: ark_fpv add vtol att control (#24767) 
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-05-22 17:57:13 -08:00
Peter van der Perk
65c180852f i2c_launcher: Dehardcode battery index 2025-05-22 12:09:05 -07:00
Balduin
f067d7a6d8 Loong: Pitch tuning 2025-05-22 14:43:42 +02:00
PX4 Build Bot
44013e351c
New Crowdin translations - ko (#24893) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-22 08:12:42 +10:00
PX4 Build Bot
1277cf28bb
New Crowdin translations - uk (#24894) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-22 07:50:01 +10:00
PX4 Build Bot
700ad7e49f
New Crowdin translations - zh-CN (#24895) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-22 07:49:55 +10:00
Niklas Hauser
cc199aa807 [board] Disable buzzer on Skynode base boards 2025-05-21 17:43:12 +02:00
Matthias Grob
a9f7f00844 batteryCheck: refine low battery reporting sevirity 
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.

Low - Critical
Critical - Critical
Emergency - Emergency
 2025-05-21 16:08:27 +02:00
mahima-yoga
fa168c4d4f address review comments 2025-05-21 16:08:27 +02:00
mahima-yoga
d44991f33a batteryCheck: change log level to 'warning' for low and critical battery. 2025-05-21 16:08:27 +02:00
mahima-yoga
0b3b5d9450 framework: only log "Failsafe activated" when failsafe action =! Warn. 2025-05-21 16:08:27 +02:00
Matthias Grob
30df381f0e multicopter_autonomous_params: adjust yaw acceleration and maximum rate for exclusive use with HeadingSmoothing 2025-05-21 13:25:46 +02:00
Matthias Grob
a8f5b6dc1b FlightTaskOrbit: also use HeadingSmoothing to avoid steps during the approach 2025-05-21 13:25:46 +02:00
Matthias Grob
70ad2e6fe5 FlightTaskAuto: Smooth yaw follow-up, bring back necessary previous yaw setpoint and reset smoothing when yaw is not locked 2025-05-21 13:25:46 +02:00
Dawid Rudy
508dc030b8 Smooth yaw by limiting acceleration 2025-05-21 13:25:46 +02:00
Marco Hauswirth
2cc9221aae
Revert "add flash-analysis for auterion_fmu-v6s board (#24885)" (#24896) 
This reverts commit 9e45f077b189806bdd1b1ef1d2b3b6fe5e99f3aa.
 2025-05-21 11:49:26 +02:00
Hamish Willee
54ddb14137
Update meta docs (#24892) 
* docs: update module reference metadata

* Update failsafe metadata in docs

* Update parameter metadata

* Fix up uorb graphs based on main

* SUMMARY.md - and radio control for modules

* Add alternate sidebar

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
 2025-05-21 15:42:05 +10:00
Matthias Grob
0b3fc0a62d SIH: add Hexacopter X 
to enable easy simulation of a motor failure.
 2025-05-20 13:23:08 +02:00
Marco Hauswirth
9e45f077b1
add flash-analysis for auterion_fmu-v6s board (#24885) 2025-05-20 12:00:29 +02:00
Hamish Willee
c2f872c558
docs: put RC modules into their own category (#24847) 2025-05-20 07:34:20 +02:00
Michael Smith
0f2012ba06
MSP_OSD Update: Add original battery status msg. (#24872) 
Co-authored-by: Michael <mfs3ee@gmail.com>
 2025-05-19 16:01:02 -08:00
Alexander Lerach
77894b7c83 ci/boards: add itcm checker, update ITCM mapping of v6xrt and tropic-community 2025-05-19 07:44:35 -07:00
Julian Oes
4126dde11f mavsdk_tests: bump to v3.4.0 
This should fix some of the lockups and segfaults we see.
 2025-05-19 07:37:02 -07:00
Julian Oes
d4be5d3ff0 mavsdk_tests: add events to log 2025-05-19 07:37:02 -07:00
Julian Oes
1f65cc46b9 mavsdk_tests: bump MAVSDK to v3.3.4 2025-05-19 07:37:02 -07:00
Julian Oes
56eb9bcc18 mavsdk_tests: workaround race condition 
PX4 needs a bit of time to process an uploaded mission before it is
ready to accept the mission mode.

Therefore, we need to wait a bit.

Alternatively, we could wait on the mission progress arriving properly,
but this sleep is simple enough for now.
 2025-05-19 07:37:02 -07:00
Julian Oes
e19d245355 mavsdk_tests: remove hacks for rally points 
We can now just use MAVSDK to upload rally points.
 2025-05-19 07:37:02 -07:00
Julian Oes
66deae172d mavsdk_tests: update to MAVSDK 3.0.0 2025-05-19 07:37:02 -07:00
PX4 Build Bot
e50d5d8567
New Crowdin translations - zh-CN (#24875) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:57:05 +10:00
PX4 Build Bot
98a37d8e5d
New Crowdin translations - ko (#24873) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:56:53 +10:00
PX4 Build Bot
740cd2e40d
New Crowdin translations - uk (#24874) 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
 2025-05-18 10:56:18 +10:00
Li-Tianming
815a339684
MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695) 
* Change MSP_OSD message content and rendering process

* Finish MSP_OSD battery message construct

* Finish MSP_OSD `display message` construct

	HOL|DSAM|N

* Finish MSP_FC_VARIANT(0x02) message

	BTFL

* Finish MSP_OSD RSSI message
	📶10%

* Finish MSP_OSD GPS message
	🛰 10
	🌐000.000000
	🌐00.000000

* Finish MSP_OSD PITCH ROLL  message
        🔃-10.5
	🔁13.2

* Change struct filed name

* Change OSD message postion

* Finish MSP_OSD PITCH Altitude  message
	🔝15.2

* Finish MSP_OSD distanceToHome  message
	🏠5000

* Add Hide/Show option for ALT and homeDist

* Format the code by `make format`

* Clean up stray text

* Remove other commented out dead code

* Change `sprintf()` to `snprintf()`

* Add msg field comment in `display_message` construct

* Init str buffer to 0, Change refresh rate back to 100ms

* Explicit conversion float to double

---------

Co-authored-by: Li.Tianming <Li.Tianming@example.com>
Co-authored-by: Li.Tianming <Li.Tianming>
 2025-05-16 11:33:40 -08:00