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6021b8efb3acfbe28869262a2fa4e3b579d4ba4e
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15020 Commits

Author SHA1 Message Date
Julian Oes 6021b8efb3 navigator: only apply breaking for multirotors 2022-02-22 09:41:22 -05:00
Julian Oes fa6c051ae5 navigator: break smoothly when entering hold mode 
This uses the existing breaking functionality when hold/loiter mode is
activated.
 2022-02-22 09:41:22 -05:00
Julian Oes f88dd28e85 navigator: extract breaking functionality out 
This only moves the breaking functionality out from the reposition
command handling to a function, so that it can get re-used in other
places.
 2022-02-22 09:41:22 -05:00
bresch 0e0e0d8be7 [AUTO COMMIT] update change indication 2022-02-22 11:49:25 +01:00
bresch 4f0a959244 gps_hgt: add and improve unit tests 2022-02-22 11:49:25 +01:00
bresch edabfd2f0e ekf_hgt: call specific height reset function instead of generic one 
- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).

- Separate "baro fault" from "baro intermittent": intermittent is a
  temporary failure and should prevent from switching to baro right now,
  but "fault" means that it should never be used anymore

- In case of height timeout, check for metrics but not for consistency
  as the filter is likely to have diverged already.
 2022-02-22 11:49:25 +01:00
bresch cba73585e1 use recorded last sensor timestamp for intermittent check 2022-02-22 11:49:25 +01:00
Daniel Agar f431b233f3 ekf2: preflight checker fix flow y innovation filter 2022-02-22 09:39:22 +01:00
Roman Dvořák 976c994156 Extend the PCF8583 driver to support multiple instances (#19232) 
* Add some restart events into pcf8583 driver

Co-authored-by: Vít Hanousek <vithanousek@seznam.cz>
 2022-02-21 16:47:16 -05:00
Beat Küng 960003a86a control_allocator: fix weak authority matrix check & update 
- use max(fabsf(val)) instead of max(val)
- use correct actuator count
 2022-02-21 11:17:00 -05:00
Daniel Agar 591b7b6934 ekf2: add new estimator_gps_status.msg 
- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
 2022-02-21 08:58:59 -05:00
Daniel Agar f8d7574d3c ekf2: simplify global position publication validity check 2022-02-21 08:57:33 -05:00
fury1895 be92165c54 AirspeedSelector: fix messaging 2022-02-21 15:21:13 +03:00
Julian Oes 9b35b680f6 gimbal: fix input selection 
Once we have valid input we should use that and not overwrite our
update_result with the result from other inputs, otherwise the
automatic selection does not actually work.

This behavior means that only the first update will be used if there are
several sources updating in the same cycle.
 2022-02-21 08:38:16 +01:00
Igor Mišić 3c09448daf dataman: add silence flag for _file_initialize 2022-02-21 08:36:36 +01:00
Daniel Agar 09e36e6cb4 gimbal: new pitch limits [MNT_LND_P_MIN, MNT_LND_P_MAX] when landed 2022-02-20 16:04:09 -05:00
Daniel Agar d147ad3a9a gimbal: add parameter units 2022-02-18 14:15:58 -05:00
Daniel Agar 2a8aa17a81 mavlink: streams MOUNT_ORIENTATION populate time_boot_ms 2022-02-18 14:14:56 -05:00
Daniel Agar 1f77a3750e mavlink: don't reset _src_addr_initialized on parameter updates 2022-02-18 14:14:36 -05:00
Daniel Agar 1addbe469e mavlink: STATUSTEXT increase stale message timeout 2022-02-18 10:16:20 -05:00
Daniel Agar d5d50d5855 gyro_calibration: add additional validity check before finalizing calibrations 
- this can slip through if sensors are running normally, but then stop publishing valid data
 2022-02-18 09:12:30 -05:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Silvan Fuhrer c51dc3b4b7 ControlAllocator: Set all the elements of a row to 0 if that row has weak authority 
Weak authority on a axis is currently defined as: none of the actuators have an
effectivness on this particular axis larger than 0.05.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer 97a280d41d CA: Tiltrotor: set tilts to exactly -1 or 1 if close to these end points 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer 25f5152583 Tiltrotor: make sure tilt doesn't exceed the FW tilt angle 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer c13726af66 Enable DO_SET_SPEED commands outside of missions in other AUTO modes (#18834) 
* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle

* Navigator: reset cruise speed and throttle to default when VTOL-transitioning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 11:19:02 +01:00
Yannick Fuhrer 26ea70e729 Airspeed selector: fix condition for messaging (#19173) 
Change warning message after airspeed failure on the ground, 
recommend RTL only if flying.
 2022-02-15 17:23:36 +01:00
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
 2022-02-15 14:56:57 +01:00
Silvan Fuhrer 374bcb105a RTL: fill loiter radius in state Climb (#19165) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-15 14:50:14 +01:00
Daniel Agar 5370733d62 ekf2: publish flow vel only if compensated flow is available 
- fix a few publication timestamp_samples
 2022-02-14 10:55:10 -05:00
Daniel Agar b157afde6a ekf2: prefer airspeed_validated over raw airspeed if available (#19159) 
* ekf2: prefer airspeed_validated over raw airspeed if available

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 15:37:29 +01:00
Silvan Fuhrer df0e402c44 CA: refactor logic for matrix updating 
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
  -config changes (parameter)
  -motor failure detected or certain redundant motors are switched off to save energy

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 09:23:10 +01:00
PX4 BuildBot 41e48435c9 Update submodule mavlink to latest Sat Feb 12 12:38:48 UTC 2022 
- mavlink in PX4/Firmware (9457e7b25c4fa51f5ccc0bd887760e910926ba8a): https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/4b0558d0d10efbdd550cb5321d56f6a611d0ab14
    - Changes: https://github.com/mavlink/mavlink/compare/311eee010bb82f5fb2e4e0f64f7961a83212b003...4b0558d0d10efbdd550cb5321d56f6a611d0ab14

    4b0558d0 2022-02-11 Andrew Tridgell - added CANFD_FRAME and CAN_FILTER_MODIFY messages
7f032afe 2022-02-10 Daniel Agar - Apply suggestions from code review
9379a601 2022-02-06 Andrew Tridgell - common: added MAV_CMD_CAN_FORWARD and CAN_FRAME
 2022-02-12 13:16:42 -05:00
Silvan Fuhrer 2eba1847fd HTE: add new parameter HTE_THR_RANGE to define range of estimated thrust 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
Silvan Fuhrer 34805e43fd HTE: remove unused method setMeasurementNoiseStdDev() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
bresch 493e35b72e ekf_terr: reset rng fault when on ground 2022-02-11 10:57:45 -05:00
bresch 502ec7ef46 ekf_terr: fix unit test 
the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
 2022-02-11 10:57:45 -05:00
bresch 2fb7b35a8b ekf2_terr: refactor terrain estimator - flow aiding 2022-02-11 10:57:45 -05:00
bresch 33fd1849e0 ekf2_terr: refactor terrain estimator - rng aiding 2022-02-11 10:57:45 -05:00
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
bresch a3b2550f07 mc_auto: only check for offtrack, infront and behind in XY-plane 
This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
 2022-02-11 16:14:48 +01:00
Daniel Agar 97a75fc388 sensors: skip selection and failover checks during parameter update cycles 2022-02-10 09:31:23 -05:00
Beat Küng b6607a7b78 battery_status: do not publish if no voltage channel is defined 
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.

An alternative would be to not run battery_status depending on config.
 2022-02-09 16:54:45 -05:00
Silvan Fuhrer 81b08a0168 FW Pos C: set position_sp type to position during VTOL backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
PX4 BuildBot 33ce1b9b64 Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022 
- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - Changes: https://github.com/mavlink/mavlink/compare/51abf3c82b3d7137406459dc9b337e57637711ae...311eee010bb82f5fb2e4e0f64f7961a83212b003

    311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791)
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789)
 2022-02-08 21:50:55 -05:00
Daniel Agar 86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Steve Nogar dce067df83 add configurable rtps rate parameter 2022-02-08 19:03:20 +01:00
Daniel Agar 133fe0cfb1 local_position_estimator: move to INS0 work queue (for significantly more stack) 2022-02-08 11:16:49 -05:00
Julian Oes 490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00