bresch
5818974f0f
ekf: add range finder "faulty" status
...
When delclared faulty, the range finder cannot be used anymore
2022-02-11 10:57:45 -05:00
Julian Oes
39f0e97245
vmount: refactor for v2 auto input, test command
...
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.
The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
rather than only the v2 input.
2022-02-07 19:21:15 -05:00
Julian Oes
f2216dff55
mavlink: don't send gimbal_device_attitude_status
...
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
2022-02-07 19:21:15 -05:00
Daniel Agar
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector
...
- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 17:50:19 -05:00
mcsauder
e554f0174d
Format whitespace and group checkall() methods together in geofence class.
2022-01-31 21:01:03 -05:00
Daniel Agar
90358f078f
add odometry reset counter (ekf2, mavlink, etc)
2022-01-31 09:19:36 -05:00
CUAVmengxiao
425d03d909
msg: Add full_charge_capacity_wh
2022-01-26 13:44:48 -05:00
Roman Dvořák
c8349811d1
Enable logging of mavlink tunnel messages
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Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
2022-01-26 11:10:43 -05:00
Thomas Stastny
3b6c9448aa
npfg: fix format CMakeLists
2022-01-14 22:05:53 +01:00
Thomas Stastny
082e320191
integrate optional NPFG library for wind-aware fixed-wing guidance
2022-01-14 22:05:53 +01:00
Claudio Micheli
8a01135a93
Commander: more changes to use events with escs and battery failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com>
2022-01-13 08:40:34 +01:00
Claudio Micheli
d122513197
extend support for Battery status message
...
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2022-01-13 08:40:34 +01:00
Julian Oes
9fe7a40673
manual_control: enable sending camera commands
2022-01-10 23:04:10 -05:00
Julian Oes
860b23dd17
tunes: add tune to power off
...
This is used by the ATL Mantis EDU to help the user realize when the
drone is powered off.
2022-01-10 23:04:10 -05:00
Daniel Agar
e731fcdbc0
sensors (accel/gyro/mag) determine if external with device id
2022-01-10 10:31:07 -05:00
Matthias Grob
bbb04ab4b8
Remove relaying of maximum altitude through land detector
2022-01-05 14:54:59 +01:00
honglang
b60e59d9be
msg: new sensor_hygrometer msg
2021-12-27 12:13:09 -05:00
Beat Küng
4c80adfaf1
control_allocator: implement trim + slew rate limits configuration
2021-12-24 20:06:13 -05:00
Beat Küng
1901edf13c
actuator_motors.msg: add reversible flags & implement in mixer_module
2021-12-24 20:06:13 -05:00
Matthias Grob
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
marcojob
2cfe08b3b1
small typo in vehicle_local_position msg
2021-12-17 15:45:07 +01:00
Michael Schaeuble
5ad8b84dec
Fix PPS based UTC timestamp in camera trigger and capture messages
...
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
2021-12-17 07:56:08 +01:00
Michael Schaeuble
ebb657bcf4
Fix camera trigger via MAVLink when camera capture feedback is enabled
...
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
2021-12-17 07:56:08 +01:00
Igor Mišić
72b1db4a63
pps_capture: implementation of pulse per second capture driver
2021-12-17 07:56:08 +01:00
Thomas Debrunner
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
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Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
Beat Küng
f76086ffa1
microRTPS_agent_CMakeLists.txt.em: add install section
2021-12-10 09:03:08 -05:00
Matthias Grob
ddc6b6bc9c
battery: move MAVLink specific handling out of battery class
2021-12-07 21:06:51 +01:00
Daniel Agar
8fbf79527f
magnetometer allow setting initial calibration from bias if available and stable
2021-12-01 20:24:56 -05:00
alexklimaj
bfd5a90a5d
UAVCAN Moving Baseline Working
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Set uavcan publisher priorities
Switch to ardupilot rtcm message and add heading accuracy
2021-11-30 15:59:08 -05:00
Matthias Grob
c522a8b15a
Compute RTL time and react if lower than flight time
...
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
2021-11-24 14:10:24 +01:00
Beat Küng
a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
Beat Küng
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
Beat Küng
6fdcc43ea8
mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg
2021-11-23 12:40:22 -05:00
Matthias Grob
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
Matthias Grob
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
bresch
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
Matthias Grob
91c48606ee
battery_status: clearly define and handle zero remaining flight time
2021-11-15 15:44:02 +01:00
Matthias Grob
54f2e91775
battery_status: report remaining flight time in seconds
...
This allows more accurate reporting and is compliant with the
MAVLink interface.
2021-11-15 15:44:02 +01:00
Matthias Grob
7ec8dd9d23
vehicle_constraints: remove deprecated speed_xy constraint
2021-11-09 21:47:06 -05:00
bresch
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
...
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
Matthias Grob
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
Matthias Grob
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
Matthias Grob
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
Matthias Grob
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
Matthias Grob
956997eb1e
Replace arm_request and mode_request with combined action_request
...
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
Matthias Grob
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
Matthias Grob
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
Matthias Grob
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
Matthias Grob
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
Matthias Grob
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
