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24478 Commits

Author SHA1 Message Date
Silvan Fuhrer
76ea472696 Move Quadchute from the VTOL module to Commander (failure detector) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-28 13:49:05 +02:00
Silvan Fuhrer
a803fa809b VTOL: remove some unsued variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-27 17:02:29 +02:00
Silvan Fuhrer
24f3476f00 vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-27 17:01:49 +02:00
Silvan Fuhrer
77dbc05a89 Commander/VTOL: move VT_FW_PERM_STAB param to commander and not pass through as flag 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-27 17:00:07 +02:00
Silvan Fuhrer
23480dbdbe VTOL: move to cpp params API 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-27 16:57:20 +02:00
Daniel Agar
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
Daniel Agar
0c31f63896 sensors: add baro calibration and cleanup 
- 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
Daniel Agar
bc26b73c07 px4io: only publish valid input_rc 2022-03-25 10:56:24 -04:00
Daniel Agar
3d08e031d2 rc_update: improve manual_switches simple protections 
- 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
Daniel Agar
875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00
Daniel Agar
879622547c commander: only process one vehicle_command/action_request per cycle 
- 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
Daniel Agar
e528eb5dc4
commander: fix status flags usage (condition_global_position_valid->global_position_valid) 
- 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
Jaeyoung-Lim
106044be38 Initialize global local projection for rovers 
This commit initializes the global and local projection for rovers
 2022-03-24 08:57:53 -04:00
Jonas Perolini
e31304d7d5
Quadchute param update (#19351) 
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
Daniel Agar
6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar
f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Matthias Grob
e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00
Matthias Grob
eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Thies Lennart Alff
f1ec6ea026 make mavlink atttitude setpoints non-exlusive for offboard setpoints 2022-03-23 11:06:40 -04:00
Silvan Fuhrer
a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Jaeyoung-Lim
194a281fae Project local coordinates for all fw landing states 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim
cb81c6ac8c Address review comments 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim
71bfb9c0de Convert NPFG to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim
f804b3516f Remove local planar vector 2022-03-23 13:34:13 +01:00
Jaeyoung Lim
28d34bf095 Convert L1 controller to local coordinates 2022-03-23 13:34:13 +01:00
Matthias Grob
897506267d Sticks: name getThrottle() explicitly about range 2022-03-23 11:54:05 +01:00
Junwoo Hwang
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
Junwoo Hwang
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
Junwoo Hwang
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
Matthias Grob
db7430aa65 matrix helper: remove needless comment line 2022-03-23 10:51:45 +01:00
Matthias Grob
18629bb535 FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes 2022-03-23 10:51:45 +01:00
Matthias Grob
74c0ae6e55 Functions: add sign from boolean function with unit tests 2022-03-23 10:51:45 +01:00
Matthias Grob
e03585ca06 FlightTaskOrbit: remap stick input when vehicle faces tangential 2022-03-23 10:51:45 +01:00
Matthias Grob
db1fb6acf7 Commander: no battery time based RTL when already landed 2022-03-23 10:49:38 +01:00
Matthias Grob
69f6092031 mavlink_receiver: remove unused land detection publication 2022-03-23 10:49:38 +01:00
Matthias Grob
c1b9b8a1c0 MulticopterLandDetector: correct comment with outdated time constant reference 2022-03-23 10:49:38 +01:00
Matthias Grob
b85c4ec475 Commander: rename land detection subscription for consistency 2022-03-23 10:49:38 +01:00
Matthias Grob
4a5a8d59fe matrix helper: add documentation for sign function 2022-03-23 08:47:52 +01:00
Matthias Grob
d0abcc1ca3 MatrixHelperTest: add unit tests for the signum function 2022-03-23 08:47:52 +01:00
Matthias Grob
03f836f79d matrix helper: fix sign function zero case 2022-03-23 08:47:52 +01:00
RomanBapst
60231bbcb6 navigator: don't reset cruise speed and throttle during a transition as part 
of the VTOL takeoff navigation state

- the reset causes the loiter circle to be reset to home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-22 15:14:02 +01:00
Daniel Mesham
06a9be74fa microdds: add xrce client 2022-03-22 09:01:05 +01:00
Konrad
e080fab8f6 Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up. 2022-03-21 09:30:04 +01:00
Konrad
d7de67844f Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up. 2022-03-21 09:30:04 +01:00
Daniel Agar
475bd42ab8 sensors: add 2nd static notch and migrate existing parameters 
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
 2022-03-19 14:38:04 -04:00
Daniel Agar
afeab9587e gyro_fft: peak detection exclude side FFT buckets 
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
 2022-03-19 14:37:36 -04:00
Matthias Grob
9ab99a7689 MatrixHelperTest: don't rely on FLOAT_EQ accepting FLT_EPSILON inaccuracy 2022-03-18 13:35:18 +01:00
Thomas Stastny
144697bb6a MatrixHelperTest: correct wrap compare values 2022-03-18 13:35:18 +01:00
benjinne
620f25503c
Add geofence predict param (#17795) 2022-03-18 11:44:13 +01:00
Daniel Agar
36e6527013 ROMFS: MAV_TYPE cleanup 
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
 2022-03-17 09:28:10 -04:00