bresch
4ed3e9e210
navigator: add failure enum
2024-08-14 11:08:02 +02:00
bresch
25fcb3c913
comander: trigger failsafe when navigator reports failure
2024-08-14 11:08:02 +02:00
bresch
9f69e9ee6c
navigator: publish navigator_state
...
feedback to commander
2024-08-14 11:08:02 +02:00
bresch
1fa878ad88
navigator: add navigation state ID to every mode class
2024-08-14 11:08:02 +02:00
murata,katsutoshi
dec550dcb9
navigator: Change IF statement to SWITCH statement ( #23534 )
2024-08-14 09:40:36 +02:00
Hamish Willee
f3a8d05f8c
MPC_ACC_DECOUPLE - better description ( #23518 )
2024-08-14 12:18:14 +10:00
murata,katsutoshi
a327b14cef
navigator: always fully initialize geofence msg
2024-08-13 21:33:36 -04:00
Stefano Colli
e2c0e5c88a
MissionBase: replay the gimbal and trigger cached items only upon reaching resume waypoint ( #23484 )
...
* Fix: replay the mission cached items only upon reaching resume waypoint
* Refactoring
Split camera mode mission items from gimbal ones so to have a finer control over the relative replays
* Chore: fix formatting
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-13 22:20:28 +02:00
bresch
aad607e0dd
ekf2: send airspeed data to ekf backend regardless of sign
...
On ground the airspeed can sometimes be slightly negative but the ekf
should still know that airspeed data is flowing regularly
2024-08-13 17:43:45 +02:00
Silvan Fuhrer
a0d22a4d21
FW Position Control: make explicit when underspeed detection logic is en-/disabled
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-13 16:55:26 +02:00
Silvan Fuhrer
acc0cd7e8a
FW Position Control: disable underspeed handling during auto takeoff
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-13 16:55:26 +02:00
Silvan Fuhrer
afc360d637
FW Position control: do not invalidate airspeed from negative readings
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-13 16:55:26 +02:00
murata,katsutoshi
db8781e531
navigator: Align MAVLINK message level with EVENT message level ( #23535 )
2024-08-12 19:09:22 +02:00
Jaeyoung Lim
e008ca24f1
Remove euler angles from attitude setpoint ( #23482 )
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* Remove euler angles from attitude setpoint message
* Remove usage of euler angles in attitude setpoint messages
This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages
* Fix standard vtol
2024-08-12 16:42:51 +02:00
Matthias Grob
af06bee8d0
update mavlink & adapt to pymavlink generator reporting failures by default
2024-08-12 16:26:56 +02:00
bresch
478875c006
ekf tools: compare gyro integral with attitude estimate
2024-08-12 15:26:08 +02:00
Matthias Grob
64056fc7bb
SYS_STATUS: fill correct attitude, horizontal position flags
2024-08-09 18:22:09 +02:00
Sergei
1211aad9b0
Reasonable defaults for Lawnmower SITL
2024-08-09 12:18:16 -04:00
Matthias Grob
fdfe43471e
mavlink_receiver: limit access through instances with gimbal mode
...
This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
2024-08-09 10:13:44 -04:00
bresch
3f17f15505
commander: allow FW manual pos control without global position
2024-08-09 12:51:09 +02:00
bresch
8b12b7c641
commander: extend local position 'relaxed' validity
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Relaxed position is valid as long as a velocity aiding source is active
(e.g.: optical flow or airspeed+sideslip)
2024-08-09 12:51:09 +02:00
bresch
f04aa2494b
FW pos control: do not requre global pos in manual position control
2024-08-09 12:51:09 +02:00
Matthias Grob
6cf0bf5e19
Support MAVLink extension MANUAL_CONTROL.aux
...
Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
2024-08-09 10:49:38 +02:00
chfriedrich98
1a7717b5d9
ackermann: refactor guidance files
2024-08-08 19:54:42 +02:00
chfriedrich98
1af295f1a9
ackermann: refactor main files
2024-08-08 19:54:42 +02:00
Matthias Grob
0381e14822
FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick
2024-08-08 10:53:18 -04:00
Silvan Fuhrer
a737036633
RTLDirect: check for terrain collision in every state of RTL beside when landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Silvan Fuhrer
588c4a04c8
RTL direct: publish NavigatorMissionItem
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Silvan Fuhrer
b01c179eed
NavigatorMissionItem.msg: remove instance_count
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This information is duplicate to mission_result/mission_id.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Jacob Dahl
086c044f47
mavlink: log handler rewrite for improved efficiency ( #23421 )
2024-08-07 11:26:12 -04:00
chfriedrich98
176f09b48b
gz_bridge: add rover world to cmake
2024-08-07 10:24:02 -04:00
Silvan Fuhrer
876730a9be
FW Position Controller: enable flaps during hand/catapult launch ( #23460 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-07 15:38:55 +02:00
Claudio Chies
28a0de63c5
Orbit Yaw Vehicle Parameter ( #23358 )
2024-08-07 11:12:52 +02:00
chfriedrich98
33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
bresch
d2478d00cf
ekf2: only allow ref sensor to reset height
2024-08-06 10:19:13 -04:00
Matthias Grob
84d4ee0e60
zenoh-pico: update to correct dev/1.0.0 branch
...
which is up to date containing "Use SO_REUSEPORT only if it exists"
and is advertised by GitHub because the commit is on a branch
2024-08-06 13:42:23 +02:00
sbtjagu
326e2a9f5c
ackermann: add protection against float precision problem in acceptance radius update ( #23478 )
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* ackermann: add protection against float precision problem in acceptance radius update
* ackermann: protect against divide-by-zero
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2024-08-05 13:02:12 +02:00
Beat Küng
4883f2128a
commander: allow external modes more time for initial response
...
We've come accross a case where a ROS node would consistently take something
over 800 ms until the first arming check request subscription callback was
triggered.
After the first sample, the callback always triggered within the expected
timeframe.
Therefore this patch allows for more time right after registration until
timing out.
2024-08-05 08:43:56 +02:00
Alexis Paques
abc629c2bb
zenoh: update zenoh-pico from 0.7.0 to 1.0.0 ( #23462 )
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* Update Zenoh-pico from 0.7.0 to 1.0.0
* Update the zenoh-pico version to use PX4/dev/1.0.0-px4
* Remove the rostopic and rt/ prefix
* Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.
2024-08-02 11:48:55 -04:00
Silvan Fuhrer
75ce550db3
Navigator: add terrain collision avoidance logic for Mission/RTL
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Avoid flying into terrain using the distance sensor.
Enable through the parameter NAV_MIN_GND_DIST.
Only active during commanded descents with vz>0 (to prevent climb-aways),
excluding landing and VTOL transitions.
It changes the altitude setpoint in the triplet to maintain the current altitude
and republish the triplet. We also change the mission item altitude used for
acceptance calculations to prevent getting stuck in a loop.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-30 17:50:54 +02:00
Silvan Fuhrer
b74e46b1ac
SITL airframes/Navigator: remvoe reference to removed param MIS_LTRMIN_ALT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-30 17:50:54 +02:00
Matthias Grob
ba579245fb
battery_status: remove unused smart battery mode
2024-07-30 14:37:11 +02:00
Matthias Grob
a18c18e163
battery_status: remove custom_faults
2024-07-30 14:37:11 +02:00
Matthias Grob
72ed160aa9
batteryCheck: fix comment typo hyster{i,e}sis
2024-07-30 14:37:11 +02:00
Matthias Grob
2e66bbdfb8
battery_status: add failed to arm fault instead of duplicate over temperature
2024-07-30 14:37:11 +02:00
Matthias Grob
e06629bfe5
failsafe: unhealthy battery during spoolup leads to disarm
...
battery failures can occur upon arming when the load gets sgnificant.
In that case the safest thing to do is prevent a takeoff before anything
worse happens.
2024-07-30 14:37:11 +02:00
Matthias Grob
0d00543292
batteryCheck: explicitly report missing battery with ID
2024-07-30 14:37:11 +02:00
Matthias Grob
7d79bdfa05
batteryCheck: apply supply circuit breaker also to battery checks
...
This was the case in older versions of PX4.
2024-07-30 14:37:11 +02:00
Matthias Grob
edcda80cb9
Commander: adhere to parameter naming convention ( #23466 )
2024-07-30 14:27:27 +02:00
chfriedrich98
b93dd0e8d4
purePursuit: migrate parameters to library ( #23438 )
2024-07-30 14:16:05 +02:00
