3478765c31
Navigator: MissionFeasibilityCheck: Rework 1st waypoint check ( #23568 )
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* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid
* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight
* Apply suggestions from code review
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* feasibilityCheckerTest: update tests to not fail for first waypoint check
* feasibilityChecker: make comment for 1stwaypointcheck event
* Feasibility check unit test: fix comment
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-21 09:08:36 +02:00
f252e20eae
Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )" ( #23583 )
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This reverts commit 7e45f491521.732mackay@gmail.com >
2024-08-20 19:36:08 -04:00
0931179579
ekf2: extract WMM update logic
2024-08-20 10:32:27 -04:00
ecfdbd2e60
littlefs: needs more stack when used
2024-08-19 11:05:50 -04:00
4d21110cfb
Documentation - improved GCS parameter readablity ( #23376 )
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improved GCS parameter description
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 13:36:04 +02:00
7e45f49152
Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )
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* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.
* Fix formatting
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Co-authored-by: jmackay2 <jmackay2@gmail.com >
2024-08-19 08:54:57 +02:00
e29a36adb4
Landing horizontal velocity compensation / unsteady landing ( #23546 )
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* initial working
* implemented feedback
2024-08-19 08:01:43 +02:00
435e9665b3
RTL: cone: never climb more than to RTL_RETURN_ALT ( #23558 )
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This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 07:51:33 +02:00
ad1d9e1312
failsafe: do not add additional hold delay if failsafe action is hold
2024-08-16 16:26:20 +02:00
ea673b0b5b
navigator: check hagl failsafe centrally
2024-08-16 16:26:20 +02:00
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled ( #23556 )
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COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 13:57:37 +02:00
4a3cbecf01
Commander: only add *autopilot disengaged* to failsafe notifactions in special cases
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 11:04:37 +02:00
f7e6e1354a
commander: power check only keep error thresholds
2024-08-15 10:06:56 -04:00
4ed3e9e210
navigator: add failure enum
2024-08-14 11:08:02 +02:00
25fcb3c913
comander: trigger failsafe when navigator reports failure
2024-08-14 11:08:02 +02:00
9f69e9ee6c
navigator: publish navigator_state
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feedback to commander
2024-08-14 11:08:02 +02:00
1fa878ad88
navigator: add navigation state ID to every mode class
2024-08-14 11:08:02 +02:00
dec550dcb9
navigator: Change IF statement to SWITCH statement ( #23534 )
2024-08-14 09:40:36 +02:00
f3a8d05f8c
MPC_ACC_DECOUPLE - better description ( #23518 )
2024-08-14 12:18:14 +10:00
a327b14cef
navigator: always fully initialize geofence msg
2024-08-13 21:33:36 -04:00
e2c0e5c88a
MissionBase: replay the gimbal and trigger cached items only upon reaching resume waypoint ( #23484 )
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* 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
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 22:20:28 +02:00
aad607e0dd
ekf2: send airspeed data to ekf backend regardless of sign
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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
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
acc0cd7e8a
FW Position Control: disable underspeed handling during auto takeoff
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-13 16:55:26 +02:00
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
db8781e531
navigator: Align MAVLINK message level with EVENT message level ( #23535 )
2024-08-12 19:09:22 +02:00
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
af06bee8d0
update mavlink & adapt to pymavlink generator reporting failures by default
2024-08-12 16:26:56 +02:00
478875c006
ekf tools: compare gyro integral with attitude estimate
2024-08-12 15:26:08 +02:00
64056fc7bb
SYS_STATUS: fill correct attitude, horizontal position flags
2024-08-09 18:22:09 +02:00
1211aad9b0
Reasonable defaults for Lawnmower SITL
2024-08-09 12:18:16 -04:00
fdfe43471e
mavlink_receiver: limit access through instances with gimbal mode
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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
3f17f15505
commander: allow FW manual pos control without global position
2024-08-09 12:51:09 +02:00
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
f04aa2494b
FW pos control: do not requre global pos in manual position control
2024-08-09 12:51:09 +02:00
6cf0bf5e19
Support MAVLink extension MANUAL_CONTROL.aux
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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
1a7717b5d9
ackermann: refactor guidance files
2024-08-08 19:54:42 +02:00
1af295f1a9
ackermann: refactor main files
2024-08-08 19:54:42 +02:00
0381e14822
FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick
2024-08-08 10:53:18 -04:00
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
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
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
086c044f47
mavlink: log handler rewrite for improved efficiency ( #23421 )
2024-08-07 11:26:12 -04:00
176f09b48b
gz_bridge: add rover world to cmake
2024-08-07 10:24:02 -04:00
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
28a0de63c5
Orbit Yaw Vehicle Parameter ( #23358 )
2024-08-07 11:12:52 +02:00
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
d2478d00cf
ekf2: only allow ref sensor to reset height
2024-08-06 10:19:13 -04:00
84d4ee0e60
zenoh-pico: update to correct dev/1.0.0 branch
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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
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
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-08-05 13:02:12 +02:00
KonradRudin