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27398 Commits

Author SHA1 Message Date
GuillaumeLaine f3e85219a3 dds_topics: Adds handling for empty yaml fields 2023-11-22 10:42:05 +00:00
GuillaumeLaine 85c75aedd1 dds_topics: Adds multi publication to subscribed dds topics 2023-11-22 10:42:05 +00:00
bresch e568b4a1d7 replay: increase buffer size 
required to parse larger topics
 2023-11-21 21:56:34 -05:00
bresch 6320ca64a9 ekf2-terr: allow range fusion before takeoff 2023-11-21 21:56:34 -05:00
bresch 0f3378e194 ekf2: fix terrain range finder logging 2023-11-21 21:56:34 -05:00
bresch 1c3a1183c8 ekf2-flow: refactor control logic 
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
 2023-11-21 21:56:34 -05:00
alexklimaj 5f8ecd6b40 driver: ina2** allow 3 indexes 2023-11-21 21:44:39 -05:00
Roman Bapst dd2322d622 Added PerformanceModel for fixed wing (#22091) 
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2023-11-21 17:13:50 +01:00
Silvan Fuhrer 70cd224236 EKF2 params: remove wrong horizontal keyword and gps-->GNSS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-21 15:23:33 +01:00
bresch c7672fc68c ekf2-params: delta vel/ang -> accel/gyro 2023-11-20 20:10:16 -05:00
Julian Oes a501262a6b icm45686: fix dt (and usage command) 
With the wrong dt, the flight behaviour was really poor and noisy, so
this fix is absolutely required.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-21 07:44:00 +13:00
alexklimaj 1b99e7df81 px4io: change not supported message to INFO instead of ERR 2023-11-20 08:54:32 -05:00
David Sidrane 8f02184669 px4io:Add 'supported' command and uses it in rcS 2023-11-20 08:54:32 -05:00
Matthias Grob 9bed8f48c7 Remove LNDMC_ALT_MAX 
This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
 2023-11-20 14:52:35 +01:00
PX4 BuildBot fd4d635035 Update submodule mavlink to latest Sun Nov 19 12:39:21 UTC 2023 
- mavlink in PX4/Firmware (e819620173822548d05b6f309c615b48eda9261c): https://github.com/mavlink/mavlink/commit/81524c2b34aa08768f13091b1d94c421e64f96c3
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/70181c42fc63306ba3512666e1a8b7b782416806
    - Changes: https://github.com/mavlink/mavlink/compare/81524c2b34aa08768f13091b1d94c421e64f96c3...70181c42fc63306ba3512666e1a8b7b782416806

    70181c42 2023-10-12 Hamish Willee - MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET - set units to deg
f484eaf8 2023-10-11 Hamish Willee - Update test_and_deploy.yml - drop node 12 (#2041)
44197849 2023-10-11 tom - Cleanup of typos and inconsistencies in common.xml (#2044)
b295e70e 2023-09-28 Hamish Willee - Update ardupilotmega.xml - delete SPEED_TYPE (#2042)
e8d796a4 2023-09-27 Hamish Willee - SPEED_TYPE enum for MAV_CMD_DO_CHANGE_SPEED (#2039)
c313a2f3 2023-09-23 Asif Khan - common:  Add camera instance field to MAV_CMD_IMAGE_START/STOP_CAPTURE (#2024)
cad18c56 2023-09-20 Marcin - Add VELOCITY_LIMITS msg (#2015)
 2023-11-19 11:51:35 -05:00
Daniel Agar 58d6d03da3 Update submodule devices to latest Sun Nov 19 12:39:11 UTC 2023 
- GPS drivers in PX4/Firmware (0f7a34a64dd69ad074b47726eedeef147fe0f700): https://github.com/PX4/PX4-GPSDrivers/commit/b443b79f57c5e89353430940af9e4511ea8eb0b8
 - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b443b79f57c5e89353430940af9e4511ea8eb0b8...6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2

    6e452c2 2023-10-27 Robbie Drage - move NO_MKTIME compilation flags - removes dependency on tm struct being defined without MKTIME - removes unnecessary operations

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-19 11:49:39 -05:00
Braden Wagstaff 35e13a908e DDS Add battery_status publisher 2023-11-18 11:06:02 +00:00
alexklimaj 42d70808e9 uxrce add manual control input subscriber 2023-11-18 11:06:02 +00:00
PX4 BuildBot ae89c30a18 boards: update all NuttX defconfigs 2023-11-17 09:15:14 -05:00
Matthias Grob ead16d0e6c Commander: add parameter to disallow disarming in manual thrust modes 2023-11-17 09:53:56 +01:00
Matthias Grob 78987f6016 ManualControl: introduce stick gesture for killing 2023-11-17 09:53:56 +01:00
bresch 2110eae25d atune: initialize filter if not already initialized 2023-11-16 23:14:17 -05:00
Daniel Agar 62027b0965 ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers 
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
   consistent with the relevant aid source (GPS, baro, etc), but it can
   be a little awkward with users having to fight manual parameter
   changes in the right order
 2023-11-16 15:02:43 -05:00
Daniel Agar 3b2d766573 ekf2: purge remaining EKF2_AID_MASK references 2023-11-16 09:36:58 +01:00
Peter van der Perk d2915743cb px4 hardfault_log: Add SSARC dump backend support 2023-11-15 11:10:47 -05:00
David Sidrane 68354dc760 px4 ADC Use device reference_v and dn_fullcount 2023-11-15 11:10:47 -05:00
Beat Küng 2f91102808 mixer_module: rename Offboard_Actuator_Set to Peripheral_via_Actuator_Set 
Offboard is a bit too specifically tied to Offboard mode.
 2023-11-15 13:18:58 +01:00
Yannick Fuhrer d609e41413 flightmodes: flag advanced modes accordingly 2023-11-15 13:18:58 +01:00
Beat Küng d12a7dd11d uxrce_dds_client: run session until we do not get data anymore 
Otherwise there can be significant delay for received data
 2023-11-15 13:18:58 +01:00
Beat Küng fb7e973dfd commander: allow external modes to be assigned to RC 
Stores a hash of the mode name so that the same mode is always assigned
to the same index independent from registration order.
 2023-11-15 13:18:58 +01:00
Beat Küng 22acb08406 uorb: add message format compatibility check 
This can be used by DDS/ROS 2 to check for matching message definitions.
 2023-11-15 13:18:58 +01:00
Matthias Grob 0dcecf0666 FlightModeManager: avoid internal flight task running concurrently with external mode 2023-11-15 13:18:58 +01:00
Beat Küng bb900264e0 commander+mavlink: implement MAVLink standard modes 2023-11-15 13:18:58 +01:00
Beat Küng b46e1d744b commander: add config overrides 2023-11-15 13:18:58 +01:00
Beat Küng 889b6a1a78 commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-11-15 13:18:58 +01:00
Beat Küng fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00
Beniamino Pozzan 58d2badf9f [uxrce_dds_client] add services (repliers) and basic VehicleCommand service 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-14 11:29:17 -05:00
Mathieu Bresciani efa12ad224 EKF2 simplify covariance propagation (#22344) 
* ekf2-derivation: optimize before generating cpp code

* update EKF2 change indicator

Slight changes due to simplifications done in the covariance prediction

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
 2023-11-14 11:22:16 -05:00
Hamish Willee 50d9d05c10 Escape param metadata to fix broken tags 2023-11-14 09:48:03 +01:00
bresch 00568985c0 yaw_est: use error-state covariance prediction 
Convergence improvements in high yaw rate conditions
 2023-11-13 11:37:27 -05:00
Konrad 32127ca789 loiter: set loiter position to current position setpoint, if it is a loiter item 2023-11-13 12:43:58 +01:00
Michał Barciś 6800a448b0 ThrowLaunch: check ThrowMode parameter to skip takoff in MulticopterPositionControl 
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Matthias Grob 9d455d5f1f ThrowLaunch: move into separate class 2023-11-13 11:57:19 +01:00
Michał Barciś 1a48f311ea ThrowLaunch changes after PR 
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Michał Barciś c2b4f051f9 Added Throw Launch feature 
More details in the PR: https://github.com/PX4/PX4-Autopilot/pull/21170

Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Julian Oes 84577ce2c2 battery: skip charge estimation if N cells is 0 
This triggers the undefined behaviour fuzzer, so let's try to fix it.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-13 09:55:39 +01:00
Konrad 44d1003f8e rtl: Only use approaches for vtols in fixed wing mode 2023-11-12 15:41:28 +01:00
murata f29c5742be mavlink: Capitalize the first letter of Landing 2023-11-12 15:33:51 +01:00
Matthias Grob 4485c7aa11 PositionSmoothing: fix corner altitude bug 
During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
 2023-11-10 10:02:20 +01:00
Julian Oes 19b681ca1f Remove SYS_USE_IO param 
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-10 12:17:23 +13:00