Matthias Grob
6cf0bf5e19
Support MAVLink extension MANUAL_CONTROL.aux
...
Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
2024-08-09 10:49:38 +02:00
chfriedrich98
1a7717b5d9
ackermann: refactor guidance files
2024-08-08 19:54:42 +02:00
chfriedrich98
1af295f1a9
ackermann: refactor main files
2024-08-08 19:54:42 +02:00
Matthias Grob
0381e14822
FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick
2024-08-08 10:53:18 -04:00
Silvan Fuhrer
a737036633
RTLDirect: check for terrain collision in every state of RTL beside when landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Silvan Fuhrer
588c4a04c8
RTL direct: publish NavigatorMissionItem
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Silvan Fuhrer
b01c179eed
NavigatorMissionItem.msg: remove instance_count
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This information is duplicate to mission_result/mission_id.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-08 13:37:36 +02:00
Jacob Dahl
086c044f47
mavlink: log handler rewrite for improved efficiency ( #23421 )
2024-08-07 11:26:12 -04:00
chfriedrich98
176f09b48b
gz_bridge: add rover world to cmake
2024-08-07 10:24:02 -04:00
Silvan Fuhrer
876730a9be
FW Position Controller: enable flaps during hand/catapult launch ( #23460 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-08-07 15:38:55 +02:00
Claudio Chies
28a0de63c5
Orbit Yaw Vehicle Parameter ( #23358 )
2024-08-07 11:12:52 +02:00
chfriedrich98
33d99a13e8
differential: restructure and update module ( #23430 )
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* differential: rename module
* differential: restructure and update module
2024-08-07 09:53:37 +02:00
bresch
d2478d00cf
ekf2: only allow ref sensor to reset height
2024-08-06 10:19:13 -04:00
Matthias Grob
84d4ee0e60
zenoh-pico: update to correct dev/1.0.0 branch
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which is up to date containing "Use SO_REUSEPORT only if it exists"
and is advertised by GitHub because the commit is on a branch
2024-08-06 13:42:23 +02:00
sbtjagu
326e2a9f5c
ackermann: add protection against float precision problem in acceptance radius update ( #23478 )
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* ackermann: add protection against float precision problem in acceptance radius update
* ackermann: protect against divide-by-zero
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2024-08-05 13:02:12 +02:00
Beat Küng
4883f2128a
commander: allow external modes more time for initial response
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We've come accross a case where a ROS node would consistently take something
over 800 ms until the first arming check request subscription callback was
triggered.
After the first sample, the callback always triggered within the expected
timeframe.
Therefore this patch allows for more time right after registration until
timing out.
2024-08-05 08:43:56 +02:00
Alexis Paques
abc629c2bb
zenoh: update zenoh-pico from 0.7.0 to 1.0.0 ( #23462 )
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* Update Zenoh-pico from 0.7.0 to 1.0.0
* Update the zenoh-pico version to use PX4/dev/1.0.0-px4
* Remove the rostopic and rt/ prefix
* Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.
2024-08-02 11:48:55 -04:00
Silvan Fuhrer
75ce550db3
Navigator: add terrain collision avoidance logic for Mission/RTL
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Avoid flying into terrain using the distance sensor.
Enable through the parameter NAV_MIN_GND_DIST.
Only active during commanded descents with vz>0 (to prevent climb-aways),
excluding landing and VTOL transitions.
It changes the altitude setpoint in the triplet to maintain the current altitude
and republish the triplet. We also change the mission item altitude used for
acceptance calculations to prevent getting stuck in a loop.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-30 17:50:54 +02:00
Silvan Fuhrer
b74e46b1ac
SITL airframes/Navigator: remvoe reference to removed param MIS_LTRMIN_ALT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-30 17:50:54 +02:00
Matthias Grob
ba579245fb
battery_status: remove unused smart battery mode
2024-07-30 14:37:11 +02:00
Matthias Grob
a18c18e163
battery_status: remove custom_faults
2024-07-30 14:37:11 +02:00
Matthias Grob
72ed160aa9
batteryCheck: fix comment typo hyster{i,e}sis
2024-07-30 14:37:11 +02:00
Matthias Grob
2e66bbdfb8
battery_status: add failed to arm fault instead of duplicate over temperature
2024-07-30 14:37:11 +02:00
Matthias Grob
e06629bfe5
failsafe: unhealthy battery during spoolup leads to disarm
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battery failures can occur upon arming when the load gets sgnificant.
In that case the safest thing to do is prevent a takeoff before anything
worse happens.
2024-07-30 14:37:11 +02:00
Matthias Grob
0d00543292
batteryCheck: explicitly report missing battery with ID
2024-07-30 14:37:11 +02:00
Matthias Grob
7d79bdfa05
batteryCheck: apply supply circuit breaker also to battery checks
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This was the case in older versions of PX4.
2024-07-30 14:37:11 +02:00
Matthias Grob
edcda80cb9
Commander: adhere to parameter naming convention ( #23466 )
2024-07-30 14:27:27 +02:00
chfriedrich98
b93dd0e8d4
purePursuit: migrate parameters to library ( #23438 )
2024-07-30 14:16:05 +02:00
bresch
7b3d168af1
baro tuning: make hpf argument optional
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This filter is often not needed. Setting the default value to -1 makes it
optional.
2024-07-29 14:20:41 +02:00
Silvan Fuhrer
9257744da3
TECS: reduce default of FW_T_SPD_STD to reduce airspeed measurement delay ( #23441 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-29 11:14:59 +02:00
Silvan Fuhrer
d841bf124f
fw_position_control: use time literals
2024-07-26 18:01:44 +02:00
Marco Hauswirth
9d9d8aeb4c
bugfix: wrong reset_counter used
2024-07-26 18:01:44 +02:00
Marco Hauswirth
5808dac4bc
reset position-mode line following after position reset
2024-07-26 18:01:44 +02:00
Silvan Fuhrer
97561d7802
Commander: never allow to switch out of Terminate state with user intend
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-26 09:53:07 +02:00
Silvan Fuhrer
ee8030de56
Commander: do not switch out of Terminte after disarm
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-26 09:53:07 +02:00
bresch
0b1eba948a
ekf2-flow: add param to force using internal gyro
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In some cases the vibration environment of the optical flow sensor is
worse than near the autopilot.
2024-07-25 19:54:19 -04:00
sbtjagu
85b6b0a406
ackermann: added delay comand support ( #23445 )
2024-07-25 17:13:30 +02:00
oravla5
b76c1c97b3
ekf2: Optical flow enabled by default
2024-07-25 10:01:35 +02:00
Daniel Agar
fd72578e98
ekf2: avoid constraining parameters every iteration
2024-07-25 09:51:35 +02:00
Silvan Fuhrer
ebcfb5348c
Navigator: increase stack by 40 bytes
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-07-25 09:22:23 +02:00
David Sidrane
54b20f1ff3
mavlink:Use CONFIG_BOARD_ROOT_PATH instead of string constant
2024-07-24 11:39:44 -04:00
Peter van der Perk
a99cc0a20b
Remove unused kconfig symbol
2024-07-24 11:39:44 -04:00
Peter van der Perk
46e43ec725
Decouple filepaths from rcS/MTD
2024-07-24 11:39:44 -04:00
bresch
79e0e00d8c
ekf2: block process noise increment without constraining the variance
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The wind variance can be reset to a value larger than the wind init
variance (e.g.: when the reset occurs when flying close to the N or E
axis). Constraining the variance after a covariance initialization would
artificially increase the correlation and could destabilize the filter.
2024-07-24 17:11:53 +02:00
Marco Hauswirth
39abd87949
set best sensor to -1 after last sensor fails ( #23425 )
2024-07-24 11:24:07 +02:00
Stockton Slack
36d89df0a7
Fix load monitoring inconsistency bug
2024-07-22 10:33:39 +02:00
chfriedrich98
aa0dda7443
ackermann: fix naming conventions
2024-07-19 14:43:40 +02:00
chfriedrich98
f8bebd9e41
ackermann: implement pure pursuit lib
2024-07-19 14:43:40 +02:00
Matthias Grob
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
Matthias Grob
7f14110bb1
Fix missing newlines at the end of files
2024-07-19 14:33:36 +02:00
