68769ea0ec
mavlink: use reference instead of pointer to access the MAVLink instance from protocol classes
2024-06-05 16:13:52 +02:00
9a7a977625
mavlink_receiver: put all message handling in the same function
2024-06-05 16:13:52 +02:00
157f7cf40b
simplify world_magnetic_model interface (degrees in, degrees out)
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- this hopefully helps avoid accidental mis-use
- try to clarify units everywhere
2024-06-04 09:14:36 -04:00
5fa3b9d86a
lib/world_magnetic_model: fetch_noaa_table.py refactor and scaling improvements
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- upate to NOAA grid API to build WMM table in one pass
- refactor declination/inclination/totalintensity table printing to
shared method
- compute scaling factor to maximize resolution
2024-06-04 09:14:36 -04:00
22a38c0c6d
drivers/imu: sch16t improvements ( #23221 )
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* individual perf counters for frame errors
* don't treat saturation as an error
* added parameters for gyro/accel LPF and decimation ratio
2024-06-03 22:15:00 -04:00
36ec576c0f
boards: ark-pi6x remove ekf delay param defaults ( #23177 )
2024-06-03 17:52:17 -08:00
a8617cf681
Fix float and uint64_t comparison ( #23199 )
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fix: ControlAllocator float and int comparison bug
There was an incorrect comparison between a float variable `dt` and a `uint64_t` value representing 5 milliseconds (`5_ms`). As a result, `do_update` could never become true even if the last torque setpoint was received more than 5 milliseconds before.
To solve this, the `5_ms` value has been converted to seconds (0.005f) for the comparison with `dt`.
2024-06-03 17:48:38 -08:00
de0e73d505
vscode cmake-variants fix ark_septentrio-gps ( #23222 )
2024-06-03 19:43:26 -06:00
de5087ae3e
Patch for issue #22818 ( #23170 )
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When calling "differential_drive stop" a missing return statement was causing a segmentation fault due to access to already freed memory.
2024-06-03 21:10:28 +02:00
c22f725d85
fmu-v6xrt: Support RC telemetry
2024-06-03 08:31:18 -04:00
7fab93ede8
fmu-v6xrt: Fix flash configuration
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Fixes correct dummy cycle count of 20
2024-06-03 08:26:48 -04:00
0a665a526c
ekf2: add mag type init
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In this mode, the mag is used to inilialize the heading.
During flight, the heading is predicted using gyros and corrected
by GNSS measurements if available.
2024-06-03 13:28:12 +02:00
ca112fea8a
fix commander: make sure to count all valid mags in preflight check
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Previously, if a mag was not required (not index 0 and not used by ekf),
it was not counted in num_enabled_and_valid_calibration.
If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight
failure, even if there were 3 calibrated and enabled mags.
2024-05-31 12:30:34 -04:00
53210dd8f3
ekf2-mag: with NE aiding, constrain heading drift only before takeoff
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After takeoff, the heading is easily observable
2024-05-31 10:38:17 -04:00
3dac9af09e
ekf2-mag: do not reset on WMM change when NE aiding is active
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The mag field states are observed. No need to reset them.
2024-05-31 10:38:17 -04:00
ee765e7859
ekf2-mag: do not reset when NE aiding is active
2024-05-31 10:38:17 -04:00
6515935b52
ekf2-mag: do not limit the earth mag field estimate
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The EKF can recover from an initial bad earth mag field estimate.
Constraining the field is not necessary and can lead to an unpredicted
behavior of the filter.
Declination fusion is safe to run even when the horizontal field is 0
2024-05-31 10:38:17 -04:00
774b6ed3b8
ekf2-mag: do not use yaw emergency estimator to reset mag states
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On slowly moving vehicles (e.g.: boats, rovers), the yaw estimator has
worse convergence than the main EKF. Resetting the mag states using the
yaw estimator as reference can lead to poor heading. Also, the EKF can
recover really well from initially incorrect mag states.
2024-05-31 10:38:17 -04:00
c3d984703c
ekf2-mag: remove immediate declination fusion after reset
2024-05-31 10:38:17 -04:00
a6007e4b93
ekf2-mag: turn around update_all_states condition
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Non-functional
2024-05-31 10:38:17 -04:00
c11c75d32e
ekf2-mag: always add process noise until initial value
2024-05-31 10:38:17 -04:00
493c9e49db
uORB: ORBSet don't allow duplicate insertion
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* fixes a small memory leak in uORBManager.cpp (if using ORB_COMMUNICATOR)
2024-05-30 16:53:48 -04:00
42f4e02d7e
bsondump: add check if bson document size is set to zero and set to decoded size ( #23088 )
2024-05-30 14:52:19 +02:00
cd93e2982c
dshot: telemetry esc_status use sequential numbering for each motor
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channel != telemetry_index, we've to count from 0 and increment for each enabled ESC
2024-05-30 04:56:42 -04:00
7982f54a6a
dshot: refactoring
2024-05-30 04:56:42 -04:00
ff6966da57
imxrt: dshot fix erpm calculation by implementing 3-bit exponent and 9-bit period
2024-05-30 04:56:42 -04:00
3874b4c55d
imxrt: move flexio irq handler to itcm
2024-05-30 04:56:42 -04:00
5d2fda6172
dshot: bdshot fix esc offline/online checks
2024-05-30 04:56:42 -04:00
0e41f9730f
imxrt: dshot improve state machine reduce's no response count
2024-05-30 04:56:42 -04:00
f3ef0d6610
dshot: fix clearing out esc status
2024-05-30 04:56:42 -04:00
b0cb697f71
imxrt: dshot add 1060 support and use channels instead of timers
2024-05-30 04:56:42 -04:00
e2969952d3
drivers: dshot: prepare to extend for bidrectional dshot
2024-05-30 04:56:42 -04:00
2de0af52e8
px4_fmuv6xrt: bidirectional dshot driver
2024-05-30 04:56:42 -04:00
2f4d6b6fac
[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param ( #23204 )
2024-05-30 10:35:04 +02:00
efe2a52eb4
ROMFS: remove MIS_DIST_1WP customizations in airframes
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-05-29 21:00:35 -04:00
752051470f
Navigator: increase default of MIS_DIST_1WP to 10km
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The previous default of 900m leads to many warnings if left
unchanged, especially if the vehicle is already in-air when
the Mission is started.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-05-29 21:00:35 -04:00
993782cffa
ekf2: only trigger position timeout reset when hpos fusion is active
2024-05-29 20:49:14 -04:00
0379048ad2
mavsdk_tests: increase acceptance radius for position check on offboard landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-05-29 20:46:26 -04:00
ae34e39b7e
QuRT: Increased the size of the memory heap available to qurt platform ( #23194 )
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* Increased the size of the memory heap available to qurt platform
2024-05-29 20:44:40 -04:00
f3d152741c
boards: sky-drones_smartap-airlink_default disable gyro_fft module to save flash
2024-05-29 20:38:49 -04:00
b36f47535e
boards: px4_fmu-v6c_default disable gyro_fft module to save flash
2024-05-29 20:38:49 -04:00
a80c96e575
boards: px4_fmu-v5x_test disable payload_deliverer module to save flash
2024-05-29 20:38:49 -04:00
267cb9906e
integrationtests: mavros increase threshold for yaw_error_std
2024-05-29 11:11:09 -04:00
f655d1be9b
Update px4_fmu-v6xrt Bootloader
2024-05-29 11:08:49 -04:00
3beb57aae1
px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP
2024-05-29 11:08:49 -04:00
d79c5f170b
bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt
2024-05-29 11:08:49 -04:00
04e0d3475f
nxp/imxrt_common/main:Fix Breakage from a9962dc
2024-05-29 11:08:49 -04:00
daa89ba30a
Jankinsfile-compile: add missing comma after ark_pi6x_default
2024-05-29 15:42:41 +02:00
a4650fd70d
HealthCheck: added health check for logger to report if it's running ( #22781 )
2024-05-29 11:56:50 +02:00
b5627f487f
camera_trigger: module docs for camera trigger driver ( #23104 )
2024-05-29 11:37:27 +02:00
Matthias Grob