46500 Commits

Author SHA1 Message Date
Daniel Agar
6f484b652f [WIP] ekf2: EKF init immediately on first IMU sample
- tilt init use filtered accel/gyro on delayed time horizon
 - publish estimator_status on every EKF update (even if !_filter_initialised)
2024-11-27 17:22:51 -05:00
Daniel Agar
990b067b25 uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule 2024-11-27 14:09:13 -08:00
Daniel Agar
68cbbaab92 Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive 2024-11-27 13:51:10 -08:00
Ramon Roche
22c1f07f0c container: use PX4 tags whiel tagging images 2024-11-27 16:42:13 -05:00
Ramon Roche
f2bbb6f407 ci: disable publishing PR images to docker hub
Docker hub is rate limiting our API access, as a result tests are
failing for no apparent reason. This change will decrease the API calls
by at least 80%

We have applied for an Open Source account with greater API limits, I
will come back to this and update as necessary when and if they grant us
access to their program.
2024-11-27 16:42:13 -05:00
bresch
85bc8ef885 SIH-plane: fix actuator mapping 2024-11-27 11:14:56 -05:00
bresch
8a9bac29a2 SIH-FW: allow pitching up during takeoff
Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
bresch
7236ef2d17 SIH-FW: fix aileron and elevator signs
This broken when changing from mixer files to the control allocation module.
2024-11-27 11:14:56 -05:00
bresch
1dad25b763 SIH: do not assume being a tailsitter when creating airspeed measurement 2024-11-27 11:14:56 -05:00
Matthias Grob
a280d67be8 PID: Fix test to respect integral updates being applied in the next iteration
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
2024-11-26 16:13:48 +01:00
Matthias Grob
f9bcbc31ae PID: protect from division by zero because of dt
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
2024-11-26 16:13:48 +01:00
Matthias Grob
b89c53d28c Replace old pid library with new one 2024-11-26 16:13:48 +01:00
Matthias Grob
e047972cde Add new C++ PID library 2024-11-26 16:13:48 +01:00
Daniel Agar
e194a52907 ekf2: derivation.py remove sideslip small angle approximation 2024-11-25 08:53:57 +01:00
Ramon Roche
7462e98e16 ci: publish pr images to registry 2024-11-22 16:08:12 -05:00
Ramon Roche
3240cf4dc7 ci: push px4-dev container to docker hub registry 2024-11-22 16:08:12 -05:00
Ramon Roche
f2bd3105ad ci: tag container main & main-date
Make sure we always have a { branch name } container tag in addition to
a { branch name + date } tag. This way we have a rolling { branch name }
of the main and release branches
2024-11-22 16:08:12 -05:00
Ramon Roche
fb42770131 Tools: instal ccache on ubuntu 2024-11-22 16:05:58 -05:00
Ramon Roche
14468d49c1 ci: flash analysis updates
* updates comment instead of posting a new one each time
* runs on dronecode infra
2024-11-22 08:49:27 -08:00
bresch
14fe6c2167 ekf2: resetHeightTo -> resetAltitudeTo
The vertical position state is now an altitude, not just a local height
2024-11-22 15:13:47 +01:00
bresch
93c690f133 ekf2: do not inline getPosition 2024-11-22 15:13:47 +01:00
bresch
a224d38e52 lla: move implementation to cpp file
This reduces flash usage
2024-11-22 15:13:47 +01:00
bresch
aeb182a8ed ekf2: rename resetAltitudeTo to initialiseAltitudeTo
This is to better show that the altitude is also used to set the origin.
2024-11-22 15:13:47 +01:00
bresch
30d98885b7 update change indicator 2024-11-22 15:13:47 +01:00
bresch
814a2706f5 ekf2: compensate for coriolis and transport rate accelerations 2024-11-22 15:13:47 +01:00
bresch
842212df6c ekf2: update earth rate also without GNSS 2024-11-22 15:13:47 +01:00
bresch
6becccb217 update change indicator 2024-11-22 15:13:47 +01:00
bresch
a492457322 ekf2-derivation: build state struct based on type 2024-11-22 15:13:47 +01:00
bresch
13c5bd4412 ekf-flow: do not reset position when resetting to flow
Flow only provides velocity information
2024-11-22 15:13:47 +01:00
bresch
b19a6ee3b5 ekf2: store position state as lat/lon/alt
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
Ramon Roche
cf34b9d574 ci: fixes tag uploads and container tagging v1.16.0-alpha2 2024-11-21 20:48:27 -05:00
Ramon Roche
0fca8e3a85 ci: build only if push event 2024-11-21 20:46:40 -05:00
Ramon Roche
884dee35a5 ci: container tag pattern updates 2024-11-21 20:46:40 -05:00
Daniel Agar
233cf17fa7 Jenkins: delete Jenkinsfile-compile/Jenkinsfile-hardware
- Jenkinsfile-compile is now redundant with github actions
 - Jenkinsfile-hardware will be migrated to github actions once new test
   rack hardware is available (old test rack server died)
2024-11-21 12:31:02 -05:00
Silvan Fuhrer
2f65644aeb mixer module: remove unused functions
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-21 11:57:50 -05:00
Julian Oes
746e26bf9e listener: clear screen on multiple output
I suggest to clear the screen when using the listener with -n.
This way the updates don't just scroll by which isn't legible but
instead stay in place and update, similar to the top command.
2024-11-21 11:56:23 -05:00
PX4 BuildBot
10590fc597 Update submodule libfc-sensor-api to latest Thu Nov 21 12:38:53 UTC 2024
- libfc-sensor-api in PX4/Firmware (044d13635d02b9397ffc9c1200c556570d833228): ca16e99074
    - libfc-sensor-api current upstream: 85151aaf6b
    - Changes: ca16e99074...85151aaf6b

    85151aa 2024-06-05 Eric Katzfey - Revert addition on slpi link interface. It will be moved to a separate project
e36286b 2024-06-04 Eric Katzfey - Merge branch 'master' of gitlab.com:voxl-public/voxl-sdk/core-libs/libfc-sensor-api
43a513f 2024-06-04 Eric Katzfey - Added new slpi link interface
490608b 2024-05-08 Eric Katzfey - Fixed gitignore for shared object
1085c02 2024-05-07 Eric Katzfey - Added gitignore for object files
37ecfc4 2024-05-03 Eric Katzfey - v1.0.3
2d1ebd3 2024-05-02 Eric Katzfey - Added a new kill slpi function
2024-11-21 11:50:11 -05:00
Beat Küng
8ccd43dc1b refactor commander: remove unused argument is_armed in Report class 2024-11-21 14:16:22 +01:00
Beat Küng
be300b767d commander: ensure health report is always sent out before failsafe notificaation
As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
2024-11-21 14:16:22 +01:00
Matthias Grob
044d13635d Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID"
Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
2024-11-21 11:38:23 +01:00
Claudio Chies
db13b9cb50 CollisionPrevention: Added Case where velocity gets reduced to zero if we are closer to the obstacle than the minimal distance 2024-11-21 11:36:03 +01:00
Matthias Grob
bbc59dcde7 CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message 2024-11-21 11:36:03 +01:00
Matthias Grob
1410325c62 CollisionPrevention: follow parameter variable naming convention 2024-11-21 11:36:03 +01:00
Matthias Grob
30eec33e09 CollisionPrevention: slightly simplify _transformSetpoint() 2024-11-21 11:36:03 +01:00
Matthias Grob
399a8ad5b7 CollisionPrevention: fix early return and use unified bin count + array size 72 2024-11-21 11:36:03 +01:00
Matthias Grob
61d999073b Remove FlightTaskManualPositionSmoothVel
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
2024-11-21 11:36:03 +01:00
Claudio Chies
f41a08aea8 CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change
rewrite of obstacle_distance merging methods, and fix of various issues
2024-11-21 11:36:03 +01:00
Matthias Grob
2ef2911c36 Remove FlightTaskManualPositionSmoothVel
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
2024-11-21 11:36:03 +01:00
Matthias Grob
b74dd57e7c CollisionPrevention: restore rate limited warning for no data, minor cleanup 2024-11-21 11:36:03 +01:00
Matthias Grob
4c8c5fbb37 CollisionPrevention: only save quaternion and yaw on attitude update 2024-11-21 11:36:03 +01:00