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Author SHA1 Message Date
Marco Hauswirth f2608089fd fix(commander): decouple heading preflight check from attitude mode requirement 2026-03-17 20:47:12 +01:00
Marco Hauswirth 9fd967c857 fix(lib/events): add missing POSITION_SLOW and ALTITUDE_CRUISE to navigation_mode_groups 2026-03-17 20:27:52 +01:00
Marco Hauswirth 57a380d8ec ekf2: fix silent pass of preflt heading check if no heading src active 2026-02-27 13:26:47 +01:00
Marco Hauswirth 7297364484 fix ros-test-config for multi-APG 2026-02-20 17:43:45 +01:00
Marco Hauswirth 9e796daee8 add translation for aux_global_position 2026-02-20 17:43:45 +01:00
Marco Hauswirth 17242bc1a4 simulation: update sensor_agp_sim for AuxGlobalPosition message 
Update the AGP simulator to publish the new AuxGlobalPosition message
type with the required source ID field.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth 8a9be9a8f0 ekf2: update logger, mavlink, DDS, and replay for AuxGlobalPosition 
Update integrations to use the new AuxGlobalPosition message instead
of the VehicleGlobalPosition-based aux_global_position topic.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth b346fcfa00 ekf2: implement multi-instance AGP fusion 
Refactor auxiliary global position fusion to support multiple AGP
sources. Add AgpSourceControl manager class that routes AGP messages
to the correct AgpSource instance based on configured source IDs.
Only instantiate AgpSource slots that have a configured ID on boot.
Move AGP subscriptions to manager class for correct message routing.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth 1d852907a2 ekf2: add multi-instance AGP parameters 
Add per-instance parameters for auxiliary global position sources,
allowing configuration of up to 4 AGP slots with individual source IDs.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth dd177ac8cf uorb: add AuxGlobalPosition message 
Add dedicated AuxGlobalPosition uORB message to replace the previous
approach of reusing VehicleGlobalPosition for auxiliary global position
sources.
 2026-02-20 17:43:45 +01:00
Marco Hauswirth c29630f6ae adjust clang-tidy checks and workflow 2026-02-12 21:20:27 -08:00
Marco Hauswirth c4535683a7 ekf2 unit-tests: adapt to strict GNSS checks on ground 2026-02-09 10:59:58 +01:00
Marco Hauswirth 6e579cb75a improve gnss altitude fusion starting logic 2025-10-03 10:11:41 +02:00
Marco Hauswirth c2c721a2d6 * add gnss-fault flags to estimator-status msg 
* react to comments
 2025-10-03 10:11:41 +02:00
Marco Hauswirth 3712af8b7f * avoid gnss-based altitude reset in DR-mode 
* add hysteresis for re-enabling fusion
* disable lat/lon/vel fusion on gnss_hgt_fault
 2025-10-03 10:11:41 +02:00
Marco Hauswirth 073013cf85 reset terrain w flow based on current horizontal velocity 2025-08-28 13:58:29 +02:00
Marco Hauswirth adc299d019 remove paths-ignore in workflows to enable CI-checks for pure CI changes... 2025-06-25 08:04:43 -07:00
Marco Hauswirth f0fdf0b53b EKF2: distinguish airspeed source and use synthetic for wind 
Enable wind-dead-reckoning with airspeed source to synthetic airspeed
 2025-05-02 13:37:18 +02:00
Marco Hauswirth 5842c991ec AirspeedSelector: add synthetic airspeed option 
Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
 2025-05-02 13:37:18 +02:00
Marco Hauswirth c3c863ad95 AirspeedSelector: clean up in preparation of synthetic airspeed 2025-05-02 13:37:18 +02:00
Marco Hauswirth 283a69dedf enable terrain_hold when not moving vertically 2025-03-24 09:08:18 +01:00
Marco Hauswirth c6c0f2228b clean up 2025-03-12 08:52:39 +01:00
Marco Hauswirth 6112d59e58 do relative calibration of baros with 1s delay 2025-03-12 08:52:39 +01:00
Marco Hauswirth 1f5a9e526c dont change mode_change-flag if mode was not allowed to change 2025-02-28 14:23:58 +01:00
Marco Hauswirth 84134e5123 clean up variable declaration 2025-02-26 13:48:59 +01:00
Marco Hauswirth 61d595dc64 reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement 2025-02-14 17:10:14 +01:00
Marco Hauswirth bdc6957c11 dont use BROACAST_MODE_ON during unit testing 2024-12-19 07:44:45 +01:00
Marco Hauswirth db0160bf7c fix sih hitl plane airframe 2024-11-29 14:21:29 +01:00
Marco Hauswirthandbresch 5d7b734bc9 SIH: ellipsoidal earth model 
SIH: use projection functions and constants from geo lib

SIH: remove unnecessary member variable

SIH: clarify names of rotation matrices and frames

SIH: do not store DCM corresponding to quaternion attitude

Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.

SIH: don't store local variable as member

SIH: use Wgs84 constants everywhere

SIH: do not store delta_quaternion

Converting an AxisAngle to a Quaternion uses the exponenial

SIH: organise ECEF member variables

SIH: add earth spin rate to gyro data

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-11-29 14:21:29 +01:00
Marco Hauswirth 8afd267509 move more ekf function implementations to cpp 2024-09-23 12:18:41 -04:00
Marco Hauswirth e3f138862a move implementation of updateAidSrcStatus to cpp file, saves flash 2024-09-23 12:18:41 -04:00
Marco Hauswirth 4a99a51fb1 update upload-artifact v2->v4 2024-09-17 10:55:00 -07:00
Marco Hauswirth 22c2878cf8 send acknowledgement after receiving vehicle wind cmd 2024-09-12 09:34:08 +02:00
Marco Hauswirth 9d9d8aeb4c bugfix: wrong reset_counter used 2024-07-26 18:01:44 +02:00
Marco Hauswirth 5808dac4bc reset position-mode line following after position reset 2024-07-26 18:01:44 +02:00