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26262 Commits

Author SHA1 Message Date
Beat Küng
ebd64bfab6 navigator: defer saving mission until disarmed 
Avoids unnecessary dataman accesses
 2023-07-24 13:10:31 +02:00
Beat Küng
16a144c00f navigator: use mission topic to notify about geofence & safe point changes 
This avoids the need to regularly access dataman for checking.
 2023-07-24 13:10:31 +02:00
Igor Mišić
3d6c376b47 dataman: add guards for max item value 2023-07-24 13:10:31 +02:00
Igor Mišić
b6b32c5a94 dataman: update compat version 
A version update is needed since the dataman is showing errors if data doesn't exist or if it is wrongly stored. This will force default data to be initialized.
 2023-07-24 13:10:31 +02:00
Igor Mišić
92fc13d928 GeofenceBreachAvoidanceTest: bug fix 2023-07-24 13:10:31 +02:00
Igor Mišić
57f11c8149 dataman: add perf_counter 2023-07-24 13:10:31 +02:00
Igor Mišić
c40a38bd88 dataman: remove locking mechanism 2023-07-24 13:10:31 +02:00
Igor Mišić
3143f6bd0a mavlink_mission & mission: move dataman update to mission 2023-07-24 13:10:31 +02:00
Igor Mišić
55d8adb35b mavlink_mission: remove locking mechanism 2023-07-24 13:10:31 +02:00
Igor Mišić
d5ecfe0efe dataman_client: increase px4_poll timeout to 100_ms 2023-07-24 13:10:31 +02:00
Igor Mišić
d1b660b104 rtl: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić
4038eeec3e geofence: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić
e14216c6c7 dataman_client: prevent loading duplicates in the cache 2023-07-24 13:10:31 +02:00
Igor Mišić
80409672b1 mission: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić
6453a1c311 datamanClient: add Doxygen documentation for the API. 2023-07-24 13:10:31 +02:00
Igor Mišić
1e49eb419d datamanClient: add DatamanCache class 2023-07-24 13:10:31 +02:00
Igor Mišić
e6cc3d0118 datamanClient: add async functions 2023-07-24 13:10:31 +02:00
Igor Mišić
208552fdab dataman: add DatamanClient with sync functions 
Rework of dataman
 2023-07-24 13:10:31 +02:00
Igor Mišić
c67af1479f dataman: refactoring _file_initialize 
clear dataman file and init initial value on creation
 2023-07-24 13:10:31 +02:00
Igor Mišić
7563ddd91f navigator: increase stack size by 208 bytes 2023-07-24 13:10:31 +02:00
Igor Mišić
05f5ab7988 simulator_sih: increase stack size by 310 bytes 2023-07-24 13:10:31 +02:00
bresch
eb9bcb0c28 update EKF2 change indicator 
There is some actual changes because the earth mag field states are now
reset using the WMM when available. In the replay log, the measured mag
field does not match the WMM and this is why there is a large diff. It
is however more correct now than before.
 2023-07-24 09:52:52 +02:00
bresch
99824c445c ekf2: add unit test for earth mag field reset to WMM 2023-07-24 09:52:52 +02:00
Daniel Agar
c8738e3a0d ekf2: mag control cleanup mag reset 2023-07-24 09:52:52 +02:00
bresch
1d96de5cf6 ekf2: add more unit tests for GNSS stopping control logic 2023-07-21 14:53:58 -04:00
Matthias Grob
6889443bd7 temperature_compensation: use snprintf instead of sprintf 
because sprintf is deprecated on MacOS
and CI fails with warning -> error:

'sprintf' is deprecated: This function is
provided for compatibility reasons only.
Due to security concerns inherent in the
design of sprintf(3), it is highly
recommended that you use snprintf(3) instead.
 2023-07-20 13:18:45 +02:00
Daniel Agar
ec9dce2e89
Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023 
* Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
* [AUTO COMMIT] update change indication


Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-18 14:29:08 -04:00
Martina Rivizzigno
7f78ae449a
update submodule mavlink to latest Thu Jul 6 10:14:36 2023 
* remove MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET because removed from message def Auterion/mavlink@1c9949e
 2023-07-18 11:37:32 -04:00
henrykotze
b405a1aa49 advertise esc_status where is publishes 
- esc_status is an optional logging topic resulting in it not being
logged if it doesn't get advertise -> Add advertise where applicable
 2023-07-18 09:23:36 +02:00
Daniel Agar
45968c614e airspeed_selector: fix aspd typos 2023-07-17 20:37:46 -04:00
Daniel Agar
c0a56ce268 airspeed_selector: fix groundspeed typos 2023-07-17 20:37:46 -04:00
bresch
f5fd369ce8 [AUTO COMMIT] update change indication 2023-07-17 13:43:18 +02:00
bresch
1128ada90a ekf2: use correct AlphaFilter for 3D rotations 2023-07-17 13:43:18 +02:00
bresch
15bb8c0f2e AlphaFilter: add unit tests for Rot3 filtering 2023-07-17 13:43:18 +02:00
bresch
c6aa82441f AlphaFilter: add quaternion specialization 
Filtering 3D rotations require special care as they live on a curved space.
 2023-07-17 13:43:18 +02:00
Silvan Fuhrer
88c5565a29 Commander: remove COM_ARM_ARSP_EN 
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer
decf1ac0a8 Commander/Nav params: clean up descriptions 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer
351f2a8287 VTOL: remove VT_B_DEC_FF 
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Silvan Fuhrer
8fe5ce4f65 VTOL: param description clean up 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-17 10:35:02 +02:00
Matthias Grob
83b832fdce ManualControl: fix case where mode switches unintentionally in air 
Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.

I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
 2023-07-13 12:00:35 +02:00
Matthias Grob
2235c40e28 ManualControl: add functional test for switch behavior 
Using the established interface processInput() function.
 2023-07-13 12:00:35 +02:00
Matthias Grob
877f37d79e ManualControlSelector: add parentheses in condition for clarity 2023-07-13 12:00:35 +02:00
Matthias Grob
b19b0d0163 ManualControl: separate switches logic function + reset fix 
Fix the previous switches initialized flag getting reset when no RC was
present or in use. This was found during functional testing.
 2023-07-13 12:00:35 +02:00
Matthias Grob
3b2b60adde ManualControl: put input processing in separate testable function 2023-07-13 12:00:35 +02:00
Matthias Grob
8dc73c4621 ManualControl: correct manual control input subscription name 2023-07-13 12:00:35 +02:00
Matthias Grob
258fc786dc ManualControl: put parameter update into separate function 2023-07-13 12:00:35 +02:00
Matthias Grob
17535c288c ManualControl: correct CMake module definition 
modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
 2023-07-13 12:00:35 +02:00
Matthias Grob
632596c1ea FlightTask: correct header comments 2023-07-13 12:00:35 +02:00
Matthias Grob
618724b409 Functional gtests: remove unnecessary subscription updates 
A new subscription is updated on instanciation and no additional
update needs to be called for processing the first sample.
 2023-07-13 12:00:35 +02:00
Sergei Grichine
f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00