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2655 Commits

Author SHA1 Message Date
Julian Oes
6977fd9956 ROMFS: initial quadtailsitter tuning 
This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-29 12:25:20 +02:00
JaeyoungLim
e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar
bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now 
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
 2023-05-19 18:35:57 -06:00
Alejandro Hernández Cordero
be03b7f098 Allow to modify uxrce_dds_client port with a env var 
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-05-10 08:17:56 -07:00
Silvan Fuhrer
9c42dcbb0b ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer
87c8f170ae ROMFS: FW simulations: remove re-declaration of params to vehicle default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer
6fb55a8ad8 ROMFS: remove param RWTO_TKOFF from configs where only set to default again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer
cad61fcb84 ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
alexklimaj
000a3c10e2 Add ADIS16507 params 2023-05-06 17:11:42 -04:00
Beniamino Pozzan
9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
bresch
521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
Silvan Fuhrer
b874eaf5f9 VTOL: remove deprecated VT_B_TRANS_THR 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer
db379c9049 airframe configs: remove params set to default in custom config from configs 
Removes duplication.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer
9975db2d2f airframe configs: disable airspeed CBRK in rover and UUV defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer
88bf18a2fe airframe configs: remove custom tuning if close to param default and not required due to hardware 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer
cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s 
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer
f2c392e187 VTOL configs: reset TECS gains to default 
There have been substantial TECS changes lately, and the config files
for custom VTOLs have not been updated since a long time. I would thus
rather use the default TECS gains for lightly maintained configs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Beniamino Pozzan
89a00f9505 rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID 
set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-04-17 20:21:05 -04:00
Thomas Stastny
82fd2987c9
fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
TheotimeBlg
67d03461d1
Port px4vision airframe to gz environment (#21409) 
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.

* Port of the PX4 Vision gazebo-classic model to Gazebo.

With Gazebo Garden, everything seems functionnal.

* Added airframe for command make px4_sitl gz_px4vision

* revert author field

* Import model from Ignition Fuel instead of defining it directly in the .sdf
 2023-04-12 18:46:49 +02:00
Beniamino Pozzan
f7ed553f57 holibro qav250 airframe: fix PWM_MAIN_TIM0 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-04-03 07:29:53 +02:00
Daniel Agar
13487c654d
ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410) 2023-04-01 20:41:33 +02:00
Beniamino Pozzan
448b915694
gazebo airframes: cleanup and fix missing parameters (#21411) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-31 23:01:29 -07:00
bresch
89bb4622ef gazebo_tailsitter: disable multi-EKF for replayable logs 2023-03-31 15:22:38 -04:00
Beat Küng
932b743e13 ROMFS: add motor assignment to holybro x500 2023-03-28 08:18:26 -07:00
Beniamino Pozzan
c7f67a3328 microdds_client: remove multi-instances supports, add agent IP as PX4 parameter 
- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-27 10:28:43 -07:00
Silvan Fuhrer
4d2a31afe3 Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer
98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Daniel Agar
6ec2b902cc ROMFS: only copy bootloader binary if systemcmds/bl_update included 2023-03-16 09:43:56 -04:00
Frederic Taillandier
91f6ab865c
ROMFS: fix shellcheck error in px4-rc.simulator (#21282) 2023-03-10 07:37:45 +01:00
Tony Samaritano
eb4da990c3 init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables 2023-03-09 09:40:35 -05:00
frederictaillandier
eb86cb85b7 removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon 2023-03-09 12:43:47 +13:00
Silvan Fuhrer
0633d0d826 drivers: remove RoboClaw 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 09:43:01 -05:00
Jaeyoung Lim
e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge 
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
 2023-03-06 09:27:35 -05:00
Silvan Fuhrer
4be74befd2 VTOL: remove pusher reverse feature 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Beat Küng
e129534a58 fix ROMFS: add rc.autostart_ext to cmake 2023-03-01 08:53:17 -05:00
Silvan Fuhrer
006321e278 Commander: remove unused param COM_POS_FS_EPV 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Alejandro Hernández Cordero
ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor (#21176) 
* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-02-22 19:32:25 +01:00
Jaeyoung Lim
5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Jaeyoung Lim
3f50bd051f Optionally enable airspeed sensor sim 
Enable and disable sensor sim module with parameter
 2023-02-15 01:37:32 +09:00
Beniamino Pozzan
ea91dbb0f5 gazebo-classic_iris_vision: fix airframe include and default parameters 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-02-14 03:26:56 +09:00
Jaeyoung Lim
65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim
df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim
d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
Konrad
6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00
Konrad
aa3af7f707 fw_pos_control: purge L1 controller 2023-02-09 17:51:55 +01:00
Beat Küng
f05e8a699e
ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
JaeyoungLim
01c5b3934e
Tune GZ plane (rc_cessna) to fly nicely (#21077) 
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
 2023-02-06 16:24:01 -05:00
Silvan Fuhrer
e153d1defc ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-04 16:08:40 +01:00
Silvan Fuhrer
9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00