fly316/PX4-Autopilot
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Commit Graph
17358 Commits
Author SHA1 Message Date
Matthias Grob 08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
bresch 91364ba901 mc land detect: use z_deriv and vz for vert movement check 
z_deriv is less prone to bias errors
 2023-03-21 09:22:58 -04:00
Beat Küng 8497d3388f fix mavlink_ulog: use hrt_abstime instead of float 
The float inaccuracy was leading to problems on SITL with large timestamps.
 2023-03-20 21:47:41 -04:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Silvan Fuhrer 0afda910d1 VTOL: make sure that all virtual topics are updated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-17 19:43:01 +01:00
Silvan Fuhrer c7d4d1f45c FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer b33a8686f7 FWPositionController: only store acceleration and velocity in x 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer 17cd65a239 Navigator: remove support for DO_SET_SERVO 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer a1812dbde0 gimbal: move gimbal controls to new dedicated topic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer 1218d9b2fc mavlink_mission: remove support for DO_SET_CAMERA_ZOOM 
Camera controls should not happen through the flight controller, and
the control allocation has no means of controlling the camera zoom.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer 27658354da MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
Mohamad Akkawi 9de52bb5ec [navigator] Tone Down traffic warnings 
- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
 2023-03-16 07:32:43 +01:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Daniel Agar 19a2b4ec31 ekf2: GNSS yaw only reset test ratio for new samples 
- otherwise external test ratio monitoring could trigger a false positive
 2023-03-14 21:49:24 -04:00
AlexKlimaj e375e02974 Add GPS spoofing state 2023-03-14 20:28:32 -04:00
bresch fd33e60f78 ekf: fix GNSS yaw fusion wrapping 2023-03-13 10:46:34 +01:00
akkawimo 3bae99267b fix(precland): Improved log messages (#21289) 2023-03-13 08:39:31 +01:00
Daniel AgarandMatthias Grob 9be8f81d75 flight_mode_manager: StickAccelerationXY protect from NAN velocity reset 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-03-10 08:17:20 -05:00
Matthias Grob bd5838faf0 FlightTask: don't instaniate unused parameters 2023-03-09 17:40:55 +01:00
Daniel Agar b3cc945a5a ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset() 2023-03-09 09:08:27 -05:00
Daniel Agar c1f244a6fd ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) 2023-03-09 09:07:54 -05:00
Daniel Agar 60b85c2e1a mavlink: add kconfig option to disable UAVCAN parameter bridge 
- depends on DRIVERS_UAVCAN
 2023-03-08 19:30:06 -05:00
Daniel Agar 4dda5a97d8 ekf2: mag_3d check mag bias variance before allowed to update all states (orientation) 2023-03-08 15:12:48 -05:00
Matthias Grob 132e9d2439 modeCheck: add warning when RC enabled but not present 2023-03-08 09:32:56 +01:00
Matthias Grob 898c0ae5a8 mode_requirements: refactor order of setting flags 2023-03-08 09:32:56 +01:00
Matthias Grob 7fa8dfe2d2 rcAndDataLinkCheck: always update manual control availability 
and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
 2023-03-08 09:32:56 +01:00
Matthias Grob f498b90c41 mode_requirements: add manual control for manual modes 2023-03-08 09:32:56 +01:00
Daniel Agar d45aeae1de ekf2: add and share centralized method to clear inhibited state Kalman gains 2023-03-07 13:27:57 -05:00
Silvan Fuhrer 2d92bd627a FWRateController: always update manual_control_setpoint if in manual and FW 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Silvan Fuhrer caee131e6a FW Position Controller: mini fw_control_yaw_wheel refactoring 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Silvan Fuhrer 1e56d9c219 Rework flaps/spoilers logic 
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Silvan Fuhrer 16594bffa9 Rework landing gear logic 
- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO  as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Silvan Fuhrer 3e884116c4 logged_topics: make landing_gear_wheel optional and increase interval to 100ms 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Silvan Fuhrer 4b54ddfe61 Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls 
Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D
thrust setpoint vector beside the tilt is not feasible.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 22:43:41 +01:00
Eric Katzfey daa302cdbe Changes to allow the commander module to be built and run on Qurt (#21186) 
* Changed exclusion to rely on the definition of PX4_STORAGEDIR
 2023-03-06 09:49:07 -05:00
Jaeyoung Lim e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge 
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
 2023-03-06 09:27:35 -05:00
Tahsincan Köse 8737099a33 commander: failsafe framework fix missing return in actionStr function (#21245) 
- there needs to be a default statement for the compiler to work when this function is called.
 2023-03-06 09:21:20 -05:00
Beniamino Pozzan b79578fa55 efk2: Force external vision vertical position if EKF2_HGT_REF=VISION 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-06 09:19:49 -05:00
Daniel Agar 3fac85369e ekf2: gps control use adjusted velocity and position for reset 2023-03-06 09:03:39 -05:00
Silvan FuhrerandMatthias Grob 95754876ed Apply small suggestions from code review 
Further param description improvements.

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer ec38ec660c FW controllers: make param description more concise 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer 4be74befd2 VTOL: remove pusher reverse feature 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer c09bf66639 VTOL: make param descripion more concise 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer 9a038281c5 RoverPositionController: remove some unused stuff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00