7a973eddce
ekf2: migrate param to yaml
2024-04-16 11:14:13 -04:00
0f665f2772
Added high rate esc_status logging to the high rate logging category along with actuator_outputs_debug. Both of these
...
really help diagnosing odd flight behavior / crashes on VOXL2. Also changed the logger start commands in the VOXL2
standard and HITL startup scripts.
2024-04-15 16:07:07 -04:00
78bbb66568
delete SYS_MC_EST_GROUP
...
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
- add basic checks to prevent EKF2 + LPE running simultaneously
2024-04-15 16:06:08 -04:00
926e7878af
RT: only chose mission RTL if mission is valid
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-11 13:47:17 +02:00
5fab21d099
MissionBase: hasMissionLandStart should only return true if mission is valid
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-11 13:47:17 +02:00
974ead4015
FW position control: catapult/hand-launch: enable without launch detection
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-11 10:42:59 +02:00
6fec452c4b
FW position control: catapult/hand-launch: do not cut throttle if not landed
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-11 10:42:59 +02:00
6a7555c005
mission_base: fix to set the end of mission item always, if the mission can't be properly loaded or started
2024-04-11 10:21:52 +02:00
d8fabd11d0
Send mavlink manual control buttons field in manual control input topic ( #22988 )
...
Pass along button states from manual control mavlink message in new buttons field in manual control input topic
2024-04-09 12:35:42 -07:00
64505b4b9c
Mission params: update description of MIS_TKO_LAND_REQ
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-09 13:24:46 +02:00
93ed910977
FeasibilityChecks: only require both or neither TO/LND when landed
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-09 13:24:46 +02:00
9f799be855
Navigator: remove unused method
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-09 13:24:46 +02:00
5f61e3b785
ekf2: update change indicator
2024-04-05 22:26:03 -04:00
b79d3854e4
ekf2: remove option to continuously fuse mag declination
...
Declination fusion is only used when not observable (no global aiding).
2024-04-05 22:26:03 -04:00
dae246d7e2
ekf2: do not continuously use mag decl fusion when GNSS fusion is active
...
This prevents over-constraining the heading from mag fusion. An
incorrect mag yaw rotation can be absorbed as a declination error.
2024-04-05 22:26:03 -04:00
2f51db7284
ekf2: limit mag heading fusion to prevent heading overconfidence
2024-04-05 22:26:03 -04:00
51883fe5d4
ekf2: integrate mag heading into mag 3D
2024-04-05 22:26:03 -04:00
0c9e4013d2
ekf2: improve tilt leveling speed
...
Starting with no yaw uncertainty makes the tilt more observable when
using fake position fusion during the quasi-stationary alignment phase.
2024-04-05 22:26:03 -04:00
12fefbcfbd
ekf2: use global definition of quaternion error
2024-04-05 22:26:03 -04:00
de9f3a3268
gz-bridge: use correct prev_timestamp for dt calc
...
- with the addition of the navsat plugin in PR#22638, the callback would
reassign the previous timestamp used in the calculations of the
angular_velocity causing derivative type noise in the groundtruth
measurements
2024-04-04 12:09:06 -04:00
ef5569fab3
px4iofirmware: reuse existing disarmed logic for lockdown and should_always_enable_pwm
...
The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
2024-04-02 11:59:56 -04:00
b714b5461b
px4iofirmware: simplify lockdown logic
2024-04-02 11:59:56 -04:00
7f0ec2305c
px4iofirmware: refactor to only have one PWM output code path
...
This removes the duplication with unexpected differences
and allows to consistently handle the output instead of
overriding the output for some specific cases which
leads to unexpected corner cases. E.g. disabled outputs
suddenly outputing PWM in lockdown.
2024-04-02 11:59:56 -04:00
cf87cd27f5
logger: reduce interval of rtl_status logging
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-02 09:49:35 -04:00
67fb70a65e
logger: make logging of rtl_status not optional
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-04-02 09:49:35 -04:00
791d7894c8
modules: zenoh: remove broken serial config and update topics
2024-04-01 22:05:20 -04:00
f082de5db7
kconfig: Add dependencies
2024-04-01 22:05:20 -04:00
416b6a35a4
failsafe framework: inform about failsafe action
2024-03-27 20:22:04 +01:00
0f9531a526
commander: improve failsafe messaging
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2024-03-27 20:22:04 +01:00
868a884131
fw_att_control: bitwise and should be logical and ( #22933 )
...
Signed-off-by: Julian Oes <julian@oes.ch >
2024-03-27 16:29:56 +13:00
749f88b62b
ekf2: gps control lazily check yaw_failure() only after in_air
2024-03-26 19:50:57 -04:00
fa1885af23
Signal generator ( #22666 )
...
Add option to generate sine chirp signals for fixed-wing system identification
2024-03-26 16:11:32 +01:00
1096384a38
px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs
...
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
2024-03-25 19:21:54 +01:00
4a553938fb
VOXL2: HRT updates for synchronization with Qurt time ( #22881 )
...
- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative
2024-03-22 15:24:51 -04:00
710286da72
uavcan: publish new can interface status as uorb topic ( #22873 )
2024-03-20 12:38:47 -04:00
62b8db153b
mpc: fix PositionControl unit test
...
The unit test assumes the position controller is in "decoupled" mode
2024-03-20 14:16:12 +01:00
638e17d551
ekf: update change indicator
2024-03-20 14:13:49 +01:00
6d819343aa
ekf2: fix direct state measurement update for suboptimal K case
...
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
2024-03-20 14:13:49 +01:00
cb2bb2e098
ekf2: add no gyro bias estimate test case
...
This makes the ekf unstable and creates NANs during initialization
2024-03-20 14:13:49 +01:00
c9221b91ad
ekf2: fix gnss yaw unit test
2024-03-20 14:04:19 +01:00
37caddedbb
navigator: update mission after changing home position ( #22834 )
2024-03-20 08:37:19 +01:00
95627ea098
SMART_BATTERY_INFO to BATTERY_INFO ( #22875 )
...
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024
- mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): https://github.com/mavlink/mavlink/commit/c4a5c497379ca873f73abe691a033641a6a5a817
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/a3558d6b335d930fc01816fd168d16b3f38ed434
- Changes: https://github.com/mavlink/mavlink/compare/c4a5c497379ca873f73abe691a033641a6a5a817...a3558d6b335d930fc01816fd168d16b3f38ed434
a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090 )
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919 )
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082 )
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089 )
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079 )
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085 )
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY - (#2086 )
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081 )
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078 )
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070 )
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067 )
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074 )
* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module
* Update src/modules/mavlink/streams/BATTERY_INFO.hpp
* fix trivial whitespace
---------
Co-authored-by: PX4 BuildBot <bot@px4.io >
Co-authored-by: Daniel Agar <daniel@agar.ca >
2024-03-20 11:33:37 +13:00
2e6dd243af
mpc: add possibility to generate tilt using full 3D accel
...
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
2024-03-19 12:29:34 -04:00
32aa3263a6
EKF: Change a typo
2024-03-18 10:29:44 +01:00
70346a5b2f
failsafe: set cause to generic when fallback mode is activated
...
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
2024-03-15 14:06:58 +01:00
da39d075ac
Commander enums: shorten failsafe event messages
...
Such that the focus is on the important keywords.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-15 10:25:18 +01:00
6e15dd5328
Commander: trigger warning when arming denied due to check failure
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-15 09:34:11 +01:00
d330d47495
EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid
...
Helps to reduce spamming of less important warnings.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-15 09:33:56 +01:00
6d8273483c
Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-03-15 09:33:41 +01:00
7c6ecd95a8
mc_wind_estimator_tuning: optionally use GNSS velocity
...
Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
bresch