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17130 Commits

Author SHA1 Message Date
Igor Mišić
61ca65d863 mavlink: use high_latency_data_link_lost as backup to normal data_link 2024-04-25 08:23:32 +02:00
Igor Mišić
4f8de500af iridiumsbd: update logic for detecting if the modem is not responsive 2024-04-25 08:23:32 +02:00
Igor Mišić
5be0adc779 mavlink: don't send command ACK for internal commands over Iridium 2024-04-25 08:23:32 +02:00
Igor Mišić
29af189cd0 mavlink: don't send events over Iridium 2024-04-25 08:23:32 +02:00
Igor Mišić
208909d471 mavlink: use high_latency_data_link_lost as backup to normal data_link 2024-04-25 08:23:32 +02:00
Igor Mišić
de23c10b68 commander: improve handling high latency link lost/regain 2024-04-25 08:23:32 +02:00
Igor Mišić
d3b853a7f9 mavlink: fix handling of transmission enable/disable 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Igor Mišić
760bcdec2f high_latency_stream: fixed bug where fields were not updating 
- topic update was checked twice in the same loop and thus
the second time the topic would never indicate to have updated

Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Igor Mišić
df2cc4af05 commander: fix check for availability of high latency link 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Beat Küng
f543951e10 commander: set correct health component when reporting errors 2024-04-24 16:06:32 -04:00
Daniel Agar
eb59bb9de9 simulation/gz_bridge: eliminate implicit float conversion 2024-04-24 15:51:30 -04:00
bresch
b508df39a2 imu consistency: don't scale param threshold 2024-04-24 15:51:07 -04:00
bresch
8bf1cf0b15 ekf2_params: reduce "short" description 2024-04-24 15:09:57 -04:00
bresch
4cf51e5833 baro comp: set hpf optional 2024-04-22 15:59:50 +02:00
asimopunov
f95a2021cd
adsb: warnings fixes & remove UTM_GLOBAL_POSITION (#21663) 
- warn about full traffic conflict buffer at 1/60hz.
- add conflict expiry for buffer.
- use only events for buffer full warning. mavlink_log_critical no longer needed.
- use icao address for conflict warnings id, stop using uas_id. UTM_GLOBAL_POSITION assumed deprecated.
- stop spamming when buffer is full
- fix warning wording if buffer is full.
- remove UTM_GLOBAL_POSITION

Fixes failing unit test:
* [adsbTest] Reduce conflict timestamps - not enough time has passed in ci
- failed ci output - (passes locally with make tests TESTFILTER=AdsbConflict)
- Timestamp: 6000000000
- Time now: 457720038
- Time since timestamp: 0
- Old Conflict warning expired: 0
- --------------------
- adsb_conflict._traffic_state 0
- ../../src/lib/adsb/AdsbConflictTest.cpp:244: Failure
- Value of: adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT
-   Actual: false
- Expected: true
 2024-04-22 10:14:39 +02:00
Juyong Shin
c7725d74b4
fw offboard control mode: altitude control enabled (#23041) 2024-04-22 06:57:57 +02:00
Daniel Agar
ec3ceae45e
ekf2: move yaw_estimator and derivation to dedicated folder 2024-04-18 15:14:59 -04:00
bresch
a8a67fbf8f ekf2: set horizon using specific parameter 
Some sensors can have their delay included in the timestamp. In this
case, the buffer cannot be sized using the _DELAY parameter.
 2024-04-17 09:16:16 -04:00
Sergei Grichine
c64f5128b4 Update CMakeLists.txt - included lawn world 
Added lawn world to make process to allow gz sim building like "make px4_sitl gz_r1_rover_lawn"
 2024-04-16 11:36:57 -04:00
Beniamino Pozzan
2476883525 logger: add timesync_status to default logged topics 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2024-04-16 11:29:35 -04:00
bresch
7a973eddce ekf2: migrate param to yaml 2024-04-16 11:14:13 -04:00
Eric Katzfey
0f665f2772 Added high rate esc_status logging to the high rate logging category along with actuator_outputs_debug. Both of these 
really help diagnosing odd flight behavior / crashes on VOXL2. Also changed the logger start commands in the VOXL2
standard and HITL startup scripts.
 2024-04-15 16:07:07 -04:00
Daniel Agar
78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
Silvan Fuhrer
926e7878af RT: only chose mission RTL if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer
5fab21d099 MissionBase: hasMissionLandStart should only return true if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer
974ead4015 FW position control: catapult/hand-launch: enable without launch detection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Silvan Fuhrer
6fec452c4b FW position control: catapult/hand-launch: do not cut throttle if not landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Konrad
6a7555c005 mission_base: fix to set the end of mission item always, if the mission can't be properly loaded or started 2024-04-11 10:21:52 +02:00
Eric Katzfey
d8fabd11d0
Send mavlink manual control buttons field in manual control input topic (#22988) 
Pass along button states from manual control mavlink message in new buttons field in manual control input topic
 2024-04-09 12:35:42 -07:00
Silvan Fuhrer
64505b4b9c Mission params: update description of MIS_TKO_LAND_REQ 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer
93ed910977 FeasibilityChecks: only require both or neither TO/LND when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer
9f799be855 Navigator: remove unused method 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
bresch
5f61e3b785 ekf2: update change indicator 2024-04-05 22:26:03 -04:00
bresch
b79d3854e4 ekf2: remove option to continuously fuse mag declination 
Declination fusion is only used when not observable (no global aiding).
 2024-04-05 22:26:03 -04:00
bresch
dae246d7e2 ekf2: do not continuously use mag decl fusion when GNSS fusion is active 
This prevents over-constraining the heading from mag fusion. An
incorrect mag yaw rotation can be absorbed as a declination error.
 2024-04-05 22:26:03 -04:00
bresch
2f51db7284 ekf2: limit mag heading fusion to prevent heading overconfidence 2024-04-05 22:26:03 -04:00
bresch
51883fe5d4 ekf2: integrate mag heading into mag 3D 2024-04-05 22:26:03 -04:00
bresch
0c9e4013d2 ekf2: improve tilt leveling speed 
Starting with no yaw uncertainty makes the tilt more observable when
using fake position fusion during the quasi-stationary alignment phase.
 2024-04-05 22:26:03 -04:00
bresch
12fefbcfbd ekf2: use global definition of quaternion error 2024-04-05 22:26:03 -04:00
henrykotze
de9f3a3268 gz-bridge: use correct prev_timestamp for dt calc 
- with the addition of the navsat plugin in PR#22638, the callback would
reassign the previous timestamp used in the calculations of the
angular_velocity causing derivative type noise in the groundtruth
measurements
 2024-04-04 12:09:06 -04:00
Matthias Grob
ef5569fab3 px4iofirmware: reuse existing disarmed logic for lockdown and should_always_enable_pwm 
The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
 2024-04-02 11:59:56 -04:00
Matthias Grob
b714b5461b px4iofirmware: simplify lockdown logic 2024-04-02 11:59:56 -04:00
Matthias Grob
7f0ec2305c px4iofirmware: refactor to only have one PWM output code path 
This removes the duplication with unexpected differences
and allows to consistently handle the output instead of
overriding the output for some specific cases which
leads to unexpected corner cases. E.g. disabled outputs
suddenly outputing PWM in lockdown.
 2024-04-02 11:59:56 -04:00
Silvan Fuhrer
cf87cd27f5 logger: reduce interval of rtl_status logging 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-02 09:49:35 -04:00
Silvan Fuhrer
67fb70a65e logger: make logging of rtl_status not optional 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-02 09:49:35 -04:00
Peter van der Perk
791d7894c8 modules: zenoh: remove broken serial config and update topics 2024-04-01 22:05:20 -04:00
Peter van der Perk
f082de5db7 kconfig: Add dependencies 2024-04-01 22:05:20 -04:00
Matthias Grob
416b6a35a4 failsafe framework: inform about failsafe action 2024-03-27 20:22:04 +01:00
Claudio Micheli
0f9531a526 commander: improve failsafe messaging 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2024-03-27 20:22:04 +01:00
Julian Oes
868a884131
fw_att_control: bitwise and should be logical and (#22933) 
Signed-off-by: Julian Oes <julian@oes.ch>
 2024-03-27 16:29:56 +13:00