e4b11c49c3
mathlib: add second order reference model filter with optional rate feedback ( #19246 )
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mathlib: add second order reference model filter with optional rate feedback (#19246 )
Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
2022-04-05 10:31:41 +02:00
80aef942cd
safety and safety button: refactoring #19413
2022-04-05 07:57:37 +02:00
1f17a1470a
uavcan: update safety button
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updated uavcannode/Publishers/SafetyButton.hpp
tested successfully
make format
revert cannode publishing
2022-04-05 07:57:37 +02:00
8c3ba7adb4
commander: silence GPS no longer validity PX4_WARN
2022-04-04 14:43:11 -04:00
47b08fd698
precland: save flash space
2022-04-04 17:26:52 +02:00
457130fb69
Support for NXP UWB position sensor
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uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
2022-04-04 17:26:52 +02:00
dd28c3e019
battery: update average current also when no capacity is configured
2022-04-04 10:02:55 +02:00
13c3eae6d0
battery: use mechanism to keep an up to date armed state
2022-04-04 10:02:55 +02:00
3f6ab5ea19
battery: improve flight time remaining improvements
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- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-04-04 10:02:55 +02:00
3aee2497bb
commander_params: add precision land option for mode switch
2022-03-30 18:11:44 +02:00
d6db06faf3
px_update_git_header:Extract latest release tag
2022-03-30 11:19:02 -04:00
9e57c5d217
tunes: Print warning if there is a tune error
2022-03-30 09:58:33 -04:00
f6cda64f0d
tunes: Fixed unspecified behaviour
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This fixes unspecified behaviour due to evaluation order of args.
It's up to the compiler whether next_number() or next_dots() is executed
first which means that the behaviour is not properly specified.
2022-03-30 09:58:33 -04:00
d3b3de7159
mavlink: Use round instead of ceil on BATTERY_STATUS percentage
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Co-authored-by: Alex Mikhalev <alex@corvus-robotics.com >
2022-03-30 09:49:11 -04:00
7cd57b4415
FlightTaskOrbit: alert user about exceeded radius (mavlink_log)
2022-03-29 18:46:37 +02:00
3e8d2fea94
FlightTaskOrbit: alert user about exceeded radius (events)
2022-03-29 18:46:37 +02:00
8ad44ee128
FlightModeManager: remove needless space at the end of invalid task error string
2022-03-29 18:46:37 +02:00
9bdde98a68
FlightModeManager: refactor flight task switch result condition for vehicle commands
2022-03-29 18:46:37 +02:00
ffaef906c4
FlightModeManager: don't ack with result failed when parameters are invalid
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Command denied is defined as "supported but has invalid parameters"
which matches the case.
2022-03-29 18:46:37 +02:00
fc0be6c4fc
FlightModeManager: switch to failsafe task if orbit is rejected
2022-03-29 18:46:37 +02:00
18074dec5a
simulator: fix conversion from hPa to Pa
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-03-29 17:41:54 +03:00
8a552fac78
uavcannode: publish RelPosHeading (from sensor_gnss_relative)
2022-03-29 07:59:41 +02:00
84e796c385
drives/gps: add new sensor_gnsss_relative msg
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- for ublox this corresponds to NAV_RELPOSNED
2022-03-29 07:59:41 +02:00
c7f114a26a
FlightTaskOrbit: increase radius limit
2022-03-28 17:57:56 +02:00
d0794c1189
FlightTaskOrbit: don't start Orbit if radius is not in range
2022-03-28 17:57:56 +02:00
0595efbd9b
sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data
2022-03-26 16:08:41 -04:00
0c31f63896
sensors: add baro calibration and cleanup
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- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
2022-03-26 16:08:41 -04:00
bc26b73c07
px4io: only publish valid input_rc
2022-03-25 10:56:24 -04:00
3d08e031d2
rc_update: improve manual_switches simple protections
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- require back to back matching switch decode to match within 1 second
- clear any previous manual switches if RC is unstable
2022-03-25 10:56:24 -04:00
875a2cc423
commander: remove loop counters and update UI LED control to use monotonic time
2022-03-24 22:43:26 -04:00
879622547c
commander: only process one vehicle_command/action_request per cycle
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- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
2022-03-24 22:43:26 -04:00
e528eb5dc4
commander: fix status flags usage (condition_global_position_valid->global_position_valid)
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- broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351
2022-03-24 09:40:15 -04:00
106044be38
Initialize global local projection for rovers
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This commit initializes the global and local projection for rovers
2022-03-24 08:57:53 -04:00
e31304d7d5
Quadchute param update ( #19351 )
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New parameter for actions after a quadchute (COM_QC_ACT)
Co-authored-by: Jonas <jonas.perolini@rigi.tech >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2022-03-24 10:27:32 +01:00
6135bb384b
cleanup module callback registration failed errors
2022-03-23 20:44:50 -04:00
f4c3084c26
init adjustments to ensure used topics are advertised early (primarily for logging)
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- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
2022-03-23 16:51:16 -04:00
e6ed595651
Commander: make last_fail_time_us parameter a reference instead of pointer
2022-03-23 15:04:48 -04:00
eee4aaee4f
Commander: remove dynamic position velocity probation period
2022-03-23 15:04:48 -04:00
f1ec6ea026
make mavlink atttitude setpoints non-exlusive for offboard setpoints
2022-03-23 11:06:40 -04:00
a7ddaf08c4
vehicle_status_flags.msg: remove condition_ prefix to reduce message size
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-03-23 10:37:51 -04:00
194a281fae
Project local coordinates for all fw landing states
2022-03-23 13:34:13 +01:00
cb81c6ac8c
Address review comments
2022-03-23 13:34:13 +01:00
71bfb9c0de
Convert NPFG to local coordinates
2022-03-23 13:34:13 +01:00
f804b3516f
Remove local planar vector
2022-03-23 13:34:13 +01:00
28d34bf095
Convert L1 controller to local coordinates
2022-03-23 13:34:13 +01:00
897506267d
Sticks: name getThrottle() explicitly about range
2022-03-23 11:54:05 +01:00
0e5c305163
Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables
2022-03-23 11:54:05 +01:00
f78465428c
Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue
2022-03-23 11:54:05 +01:00
8266a4df98
Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs()
2022-03-23 11:54:05 +01:00
db7430aa65
matrix helper: remove needless comment line
2022-03-23 10:51:45 +01:00
Thomas Stastny