* pusher_assist: keep pitch setpoint VT_PITCH_MIN
resetting the pitch setpoint to zero made little sense, because we lose
the forward thrust component of the hover motors, while the pusher
throttle was calculated to be applied in addition to the hover forward
component
* pusher assist: change default min pitches to 0
To make for a smoother transition for users who don't care much about
pitch when pusher-assisting and were fine with it (mostly) being at zero
This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.
* Fix position setpoint update logic in Mission RTL
Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)
* Change to work more like `mission.cpp`
* Fix rtl_direct_misssion_land formatting for style guide
* rtl_mission_fast: fix FW landing by setting previous wp in landing
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
With IMUs of higher report rate (e.g. ADIS16470), setting backup schedule timeout simply
to half of the ORB queue length may cause the backup firing before required updates are received.
Set backup schedule to queue length - 1 instead. Additionally, double-check that the backup
doesn't get too short after finding the largest integer multiple of gyro_integral_samples.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
* Update to latest mavlink that includes support for WIP warnings
* mavsdk_tests: pass build for now
We need this until the figure eight stuff has moved to common.
---------
Co-authored-by: Julian Oes <julian@oes.ch>
* rtl_mission_fast: make sure to set a position item on activation
* rtl_mission_fast_reverse: make sure to set a position item on activation
---------
Co-authored-by: Konrad Rudin <konrad@auterion.com>
* correct NED velocity according to yaw reset to keep "body-velocity" consistent
* add unit test velocityRotationOnYawReset
* '[AUTO COMMIT] update change indication'
* dont adjust velocity on yaw-reset when NE aiding active
---------
Co-authored-by: haumarco <haumarco@users.noreply.github.com>
The collision detection incorrectly used crosstrack_separation
(horizontal radius) for both horizontal and vertical checks.
This resulted in the vertical separation threshold being ignored,
creating a spherical detection zone instead of the intended
cylindrical "hockey puck" shape.
Fixed by using vertical_separation parameter for altitude
difference check on line 80.
The bug was likely introduced as a copy-paste error when creating
the vertical check from the horizontal check template. The existing
unit test uses identical values for both parameters (500.0f),
which masked this bug.
Testing: Code review. The existing unit tests pass, but they don't
catch this bug due to using equal values. Future test improvement
would be to use different crosstrack_separation and vertical_separation
values.
Signed-off-by: Tobias Fenner <tobyrfenner@gmail.com>
- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
- the estimator_aid_src::sample_timestamp would use its own timestamp to update, this
would cause the estimator_aid_src for ev velocity not to log, since the
timestamp_sample would always equal to zero and thus never be greater
than the previous published time
Co-authored-by: henrykotze <henry@autonosky.com>
* Changed the healthFailure call in the PowerChecks to ensure that no value above the low_error_threshold or below the high_error_threshold is reported in AMC
* fix format
* made _latest_low_failure and _latest_low_failure member variables. Only update them when hystersis state changes from false to true.
* rc_update: remove 1% deadzone for all channels
this should be handled higher level.
* Remove all references to the RC{n}_DZ parameters
Regular expression: RC.{0,2}_DZ
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Remove support for MAVLink 1
* Add back support for MAVLink 1 but don't default to it
* Update src/modules/mavlink/mavlink_params.c
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
