4b54ddfe61
Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls
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Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D
thrust setpoint vector beside the tilt is not feasible.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
daa302cdbe
Changes to allow the commander module to be built and run on Qurt ( #21186 )
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* Changed exclusion to rely on the definition of PX4_STORAGEDIR
2023-03-06 09:49:07 -05:00
e5d5fcd315
Subscribe to vehicle odometry in GZ Bridge
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This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
2023-03-06 09:27:35 -05:00
8737099a33
commander: failsafe framework fix missing return in actionStr function ( #21245 )
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- there needs to be a default statement for the compiler to work when this function is called.
2023-03-06 09:21:20 -05:00
b79578fa55
efk2: Force external vision vertical position if EKF2_HGT_REF=VISION
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-06 09:19:49 -05:00
3fac85369e
ekf2: gps control use adjusted velocity and position for reset
2023-03-06 09:03:39 -05:00
95754876ed
Apply small suggestions from code review
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Further param description improvements.
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-03-06 14:00:02 +01:00
ec38ec660c
FW controllers: make param description more concise
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
4be74befd2
VTOL: remove pusher reverse feature
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
c09bf66639
VTOL: make param descripion more concise
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
9a038281c5
RoverPositionController: remove some unused stuff
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
feec8b2036
L1: remove some functions that Rover doesn't need
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
0770478dc7
FlightTaskDescend: Enable nudging by sticks when it's enabled
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and stick input is available.
2023-03-02 12:06:40 +01:00
728570828f
FlightTaskManualAltitude: use StickTiltXY for horizontal stick mapping
2023-03-02 12:06:40 +01:00
21d580293a
StickYaw: use consistently for all flight tasks
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- Switching to the first order filter that was previously
only in FlightTaskManualAltitude.
- Moving the scaling of full stick deflection to
radians per second into the class.
2023-03-02 12:06:40 +01:00
0c1f340154
StickAccelerationXY: improve comments
2023-03-02 12:06:40 +01:00
a29d02fd62
MulticopterRateControl: don't instaciate unused parameter
2023-03-02 12:06:40 +01:00
da4644c20a
Sticks: only use stick input if flagged valid
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and add a function for just pitch roll stick input
2023-03-02 12:06:40 +01:00
1dada5daf4
Add StickTiltXY utility class to FLightTasks
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to map stick input to vehicle tilt consistently and reliably across modes.
2023-03-02 12:06:40 +01:00
0c4b288973
RTL: only do calculations in is-inactive if global position is recent ( #21208 )
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* RTL: only do calculations in is-inactive if global position is recent
* RTL: refactor calcRtlTimeEstimate to only calc and not pub
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-02 11:09:32 +01:00
bde194fb12
simulation/gz_bridge: local_position_groundtruth include heading ( #21224 )
2023-03-01 18:44:31 +01:00
fe48de6240
Check position subscriber before force-send flag when sending GPS global origin stream
2023-03-01 08:52:41 -05:00
539f874325
mavlink main - enable gps global origin stream also on mavlink low bw mode and change all rates to 1Hz
2023-03-01 08:52:41 -05:00
6bf19ebe23
gps global origin stream - make sure we can always send out the message at least once on request
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When requesting a message from a stream that is not active we start the
stream with interval=0 and call the request method once. For all streams
this works fine except the gps_global_origin. For this one the request method
is actually overidden to throttle down the rate and not just send out the message.
This will cause this message to never being sent on request if the stream
is not active by default.
2023-03-01 08:52:41 -05:00
76116d79f9
TECS: remove umcommanded_descent flag
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
527225357b
TECS: remove unused TECS_MODE_CLIMBOUT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
2b73b6df70
commander: fixes valid mag count in HIL
2023-03-01 08:05:23 +01:00
b5a6d6db0d
ekf2: fix controlEvYawFusion() yaw reset
2023-02-24 16:59:59 -05:00
837095b9a8
tecs: use FW_T_SINK_MIN for STE_rate_min ( #21190 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 15:46:41 +01:00
33b54f7c57
vtol_att_control: Consolidate logic for front transiton completion ( #21107 )
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* vtol_att_control: consolidate logic for front transiton completion
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* addressed review comments
Signed-off-by: RomanBapst <bapstroman@gmail.com >
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-24 15:52:27 +03:00
4259b5adac
Commander: copy sensor_gps in HomePosition::update() and store relevant fields in separate variables
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
006321e278
Commander: remove unused param COM_POS_FS_EPV
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
526e066d9a
Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
e6af8b9aa6
Commander: Home Position: move gps checks on when to allow setting home pos inside HomePosition class
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
76aac7a5e5
VehicleCommandAck typo on module docs
2023-02-23 08:19:11 +01:00
4daa63afc2
Sensors.cpp - case the uorb topics like SensorGyro
2023-02-23 08:18:39 +01:00
ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor ( #21176 )
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* Simulation Gazebo: Use Gazebo Airpressure sensor
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Fixed build
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Added feedback
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* make linters happy
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
---------
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-02-22 19:32:25 +01:00
06dfd1726f
microdds_client: fix -l flag and add -c for custom participant configuration
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Allows to use a custom FastDDS configuration on the Agent side.
2023-02-22 11:15:29 -05:00
98263de17b
ekf2: move aux vel helpers to auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
a199df78cc
ekf2: move mag control helpers to mag_control.cpp
2023-02-22 09:08:33 -05:00
c20e4e4421
ekf2: move stopFlowFusion() to optical_flow_control.cpp
2023-02-22 09:08:33 -05:00
3a317ec18c
ekf2: move gps helpers to gps_control.cpp
2023-02-22 09:08:33 -05:00
9ec3f30ae1
ekf2: move gps buffer pop to controlGpsFusion()
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- controlGpsFusion() now owns yaw estimator update
2023-02-22 09:08:33 -05:00
a867bb7d88
ekf2: let controlAirDataFusion() update yaw estimator TAS
2023-02-22 09:08:33 -05:00
60856ebe62
ekf2: move range buffer pop to controlRangeHeightFusion()
2023-02-22 09:08:33 -05:00
08f111f694
ekf2: consolidate airspeed fusion logic and helpers
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- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
2023-02-22 09:08:33 -05:00
241cee2bb7
ekf2: move airspeed buffer pop to controlAirDataFusion
2023-02-22 09:08:33 -05:00
0711a34d0e
ekf2: move flow buffer pop to controlOpticalFlowFusion
2023-02-22 09:08:33 -05:00
ed8cef6cf0
ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
b4e845d7c0
ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp
2023-02-22 09:08:33 -05:00
Silvan Fuhrer