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Author SHA1 Message Date
Matthias Grob 7e47605871 batteryCheck: separate event messages for low, critical and emergency battery states 2025-01-29 15:32:47 +01:00
Matthias GrobandHamish Willee 165f644580 control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-01-27 08:43:11 +01:00
Matthias Grob c1cab2d4e0 control_allocator: add unit for slew rate and reword description 2025-01-27 08:43:11 +01:00
Matthias Grob af062c85eb Revert "FLightTaskAuto: limit nudging speed based on distance sensor" 
This reverts commit 97cb933cff.
 2025-01-21 09:59:47 +01:00
Matthias Grob f693fab7c8 rc_update params: remove comment about default static mixing 
Was added back in 2014:
7441efde47
 2025-01-17 08:18:42 +01:00
Matthias Grob e01fef755a Control allocation: make heli rpm control an optional build flag disabled by default 
to save flash.
The rpm capture dirver is also disabled on default releases
 2025-01-15 14:35:35 +01:00
Matthias Grob bc92008885 RpmControl: Better consider the case where there's no rpm measurement (anymore) 2025-01-14 14:55:34 +01:00
Matthias Grob b584f8381c Helicopter defaults: don't auto disarm so quickly after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob 5e2848312d Commander: start timer for auto disarm after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob 2506bd3b5d RpmControl: simplify the entire control logic 2025-01-14 14:55:34 +01:00
Matthias Grob 1c4325db6d RpmControl: split into cpp source file fixing includes 2025-01-14 14:55:34 +01:00
Matthias Grob 2772ae7e0e RpmControl: maximum rpm outliers are now caught by RpmCapture 2025-01-14 14:55:34 +01:00
Matthias Grob ddd410e9d8 RpmControl: remove status message because it by now only contains redundant information 2025-01-14 14:55:34 +01:00
Matthias Grob 4050cedfaf RpmControl: call local message instance after message name following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob cd0e04f8b0 RpmControl: name current timestamp now following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob 940fe45ba7 ControlAllocator: introduce helicopter rotor rpm controller 2025-01-14 14:55:34 +01:00
Matthias Grob 50092a7f67 NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged 2025-01-14 10:32:00 +01:00
Matthias Grob b042f2101f system_params: clarify SYS_HAS_MAG description 
after answering the questions:
Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?
 2025-01-08 21:24:00 -05:00
Matthias Grob 2968af7b63 Carzyflie: don't compile Navigator ADSB handling 
I forgot to stage that change in the original change:
839010eeab
 2024-12-23 21:55:08 -05:00
Matthias Grob 61961350f9 mavlink_receiver: don't publish out of range joystick input 
Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
 2024-12-19 17:59:41 +01:00
Matthias Grob 5cf85e320a offboardCheck: acceleration setpoints only require vehicle attitude control 2024-12-19 17:58:38 +01:00
Matthias Grob ad799b64b7 mc_pos_control: shorten parameter descriptions to a readable size 2024-12-19 16:12:43 +01:00
Matthias Grob 1239f0aaed FlightTaskTransition: Comment why using invalid horizontal velocity works 2024-12-19 16:00:21 +01:00
Matthias Grob 34bcc277a5 FlightTaskTransition: keep high decelration when overshooting the transition target 2024-12-19 16:00:21 +01:00
Matthias Grob 11d7dd41fd FlightTaskTransition: clean up and simplify 2024-12-19 16:00:21 +01:00
Matthias Grob 839010eeab Navigator: make ADSB handling optional 2024-12-19 15:30:34 +01:00
Matthias Grob c69f96ec04 ADSB: replace last excess hrt_absolute_time() in the loop 2024-12-19 09:35:38 +01:00
Matthias Grob 077ade4f8f Add IO timer channel mode for RPM and also sync up rpi configuration to work with all these drivers 2024-12-19 07:30:25 +01:00
Matthias Grob b85ad98a98 Use defines instead of hardcoded magic values for maximum number of output channels and rpm filter time constant 2024-12-19 07:30:25 +01:00
Matthias Grob 8ce6ad6662 camera_capture: refactor to simplify capture channel initialization 2024-12-19 07:30:25 +01:00
Matthias Grob 267fa06da8 RPMCapture: fix copyright year, improve comments 2024-12-19 07:30:25 +01:00
Matthias Grob f4c8e0e35f RPMCapture: fix dt should not have a minimum which would limit to 6000rpm 2024-12-19 07:30:25 +01:00
Matthias Grob b7b384ab2e RPMCapture: add back filter reset on timeout 2024-12-19 07:30:25 +01:00
Matthias Grob d027f8bf39 RPMCapture: publish outliers in rpm message but don't update the filters and estimate 2024-12-19 07:30:25 +01:00
Matthias Grob 9ca06be4f5 RPMCapture: refactor to clarify scheduling 2024-12-19 07:30:25 +01:00
Matthias Grob c406e0a3a2 RPMCapture: refactor to clarify when an interrupt happened 2024-12-19 07:30:25 +01:00
Matthias Grob ec4ed75264 RPMCapture: define period as UINT32_MAX when timed out 2024-12-19 07:30:25 +01:00
Matthias Grob 825dc47fad RPMCapture: fix pulses per revolution parameter name, description, type -> use module params 2024-12-19 07:30:25 +01:00
Matthias Grob 6241db74db mavlink: stream RAW_RPM message for ONBOAR_LOW_BANDWIDTH 2024-12-19 07:30:25 +01:00
Matthias Grob 8486f74b2a RPMCapture: much better timeout scheduling 
Not timing out based on a random interval but based
on the time after the last inerrupt.
 2024-12-19 07:30:25 +01:00
Matthias Grob c463cc42d0 RPM: clean up message 2024-12-19 07:30:25 +01:00
Matthias Grob a60591378c RPMCapture: switch to PublicationMulti to be compatible with the existing rpm drivers 2024-12-19 07:30:25 +01:00
Matthias Grob 41b55724bc RPMCapture: Detect rpm sensing timeout 2024-12-19 07:30:25 +01:00
Matthias Grob 1bcdb3ef8c RPMCapture: add hardcoded rpm processing 
Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
 2024-12-19 07:30:25 +01:00
Matthias Grob ef823e5bb1 gz submodule: switch to hash on submodule main branch 
after https://github.com/PX4/PX4-gazebo-models/pull/71 was merged
 2024-12-18 18:06:37 +01:00
Matthias Grob d5c9ea048e LidarLitePWM: refactor static cast and comment 2024-12-12 13:50:17 +01:00
Matthias Grob 5010b01e2e PCF8583: refactor 1e6f for 1000000.f 2024-12-12 13:50:17 +01:00
Matthias Grob cbde9729e8 Airframes: remove unnecessary double newlines 2024-12-12 13:50:17 +01:00
Matthias Grob d416cd2a6c Commander: remove COM_POS_FS_DELAY 
A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
 2024-12-03 17:31:56 +01:00
Matthias Grob 7dcfeb2f77 PositionSmoothing: refactor _getMaxZSpeed() 2024-12-02 14:52:31 +01:00
Matthias Grob 092e5e8f9d TrajectoryConstraints: clarify waypoint indexing 2024-12-02 14:52:31 +01:00
Matthias Grob ce3fcd503f navigator: unify timeout waiting for payload to execute mission item command 
Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
 2024-11-28 20:23:36 +01:00
Matthias Grob 17c24bafbc mission_block: simplify timeout check 2024-11-28 20:23:36 +01:00
Matthias Grob ec1cf04bc9 mission_block: fix style, shorten debug message strings 2024-11-28 20:23:36 +01:00
Matthias Grobandchfriedrich98 a280d67be8 PID: Fix test to respect integral updates being applied in the next iteration 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grobandchfriedrich98 f9bcbc31ae PID: protect from division by zero because of dt 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grob b89c53d28c Replace old pid library with new one 2024-11-26 16:13:48 +01:00
Matthias Grob e047972cde Add new C++ PID library 2024-11-26 16:13:48 +01:00
Matthias Grob 044d13635d Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID" 
Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
 2024-11-21 11:38:23 +01:00
Matthias Grob bbc59dcde7 CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message 2024-11-21 11:36:03 +01:00
Matthias Grob 1410325c62 CollisionPrevention: follow parameter variable naming convention 2024-11-21 11:36:03 +01:00
Matthias Grob 30eec33e09 CollisionPrevention: slightly simplify _transformSetpoint() 2024-11-21 11:36:03 +01:00
Matthias Grob 399a8ad5b7 CollisionPrevention: fix early return and use unified bin count + array size 72 2024-11-21 11:36:03 +01:00
Matthias Grob 61d999073b Remove FlightTaskManualPositionSmoothVel 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
 2024-11-21 11:36:03 +01:00
Matthias Grob 2ef2911c36 Remove FlightTaskManualPositionSmoothVel 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
 2024-11-21 11:36:03 +01:00
Matthias Grob b74dd57e7c CollisionPrevention: restore rate limited warning for no data, minor cleanup 2024-11-21 11:36:03 +01:00
Matthias Grob 4c8c5fbb37 CollisionPrevention: only save quaternion and yaw on attitude update 2024-11-21 11:36:03 +01:00
Matthias Grob 001d722abd CollisionPrevention: move main functions to the top in the order they get called 2024-11-21 11:36:03 +01:00
Matthias Grob 1fa76ac71d CollisionPrevention: reduce internal array size, zero initialize what's possible 2024-11-21 11:36:03 +01:00
Matthias Grob c879ca531d CollisionPrevention: Clarify bin size definitions, move wrap functions into class 2024-11-21 11:36:03 +01:00
Matthias Grob 84dbbb4351 CollisionPrevention: clarify mode switch command to hold/loiter 2024-11-21 11:36:03 +01:00
Matthias Grob 50ee5bd1b4 CollisionPrevention: Sanitize input of _getObstacleDistance() 
It could cause array out of bound problems before.
 2024-11-21 11:36:03 +01:00
Matthias Grob eb06ace8e4 CollisionPrevention: fix matrix namespace 
don't use it in header such that clients are free to redefine the names
but include it in cpp files and make use of that.
 2024-11-21 11:36:03 +01:00
Matthias Grob 079f3ca67c StickAccelerationXY: Simplify collision prevention call 2024-11-21 11:36:03 +01:00
Matthias Grob b8c2805263 spi: Suppress null pointer warning 
Depending on defines px4_spi_buses can be NULL
but often it's not and in those cases the
compiler correctly warns about it.
 2024-11-20 22:36:23 -05:00
Matthias Grob 3f83a8fa7a mavlink: remove reference to COLLISION message I had missed 
Should have been part of
b5d18c6131
 2024-11-20 13:02:59 -05:00
Matthias Grob f8b34fd79d ci: build_all_targets: Update python packaging to avoid canonicalize_version() error 2024-11-20 14:27:04 +01:00
Matthias Grob dcfecb4e16 python requirements: less strict empy version specifier 2024-11-20 14:27:04 +01:00
Matthias Grob 53d920ea33 batteryCheck: fix enabling circuit breaker still causing battery failsafes 
Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
 2024-11-20 13:25:20 +01:00
Matthias Grob 1aadbf85af gtest cmake: fix unit test filter 2024-11-19 23:00:59 -05:00
Matthias Grob 651552c9b8 Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability 2024-11-12 21:21:40 -05:00
Matthias Grob 990811098b MulticopterRateControl: refactor torque setpoint naming 2024-11-12 21:21:40 -05:00
Matthias Grob b5d18c6131 Remove unused collision_report message 2024-11-12 21:18:57 -05:00
Matthias Grob d5103d71b9 simulator_mavlink: include headers from dialect specified for build (#23844) 
Without this change the configured dialect would not get included
correctly in the simulator_mavlink module, only in the main mavlink module.

Configured using e.g. CONFIG_MAVLINK_DIALECT="development"
in e.g. boards/px4/sitl/default.px4board file.
 2024-11-04 19:43:31 -09:00
Matthias Grob c199a284f5 Fix output of param show -q XXX on NuttX shell (#23793) 
* param: add a newline for the output of param show -q

Otherwise the output doesn't get flushed and doesn't show.

* param: remove deprecated PARAM_PRINT for QURT

We're not carrying platform defines in applications.
 2024-11-04 19:30:21 -09:00
Matthias Grob 219c9d6cb9 gimbal: handle angular_velocity setpoint stream timeout 
The gimbal would otherwise continue to spin with whatever velocity was commanded
before the input connection was lost.
 2024-10-30 15:12:08 +13:00
Matthias Grob 2bccb20ee6 gimbal: introduce timestamp of last setpoint update 
To enable implementing a timeout when there's no new setpoint coming in.
 2024-10-30 15:12:08 +13:00
Matthias Grob d5f3e858e8 gimbal: refactor outputs to take current timestamp at the beginning 2024-10-30 15:12:08 +13:00
Matthias Grob cac0133901 FlightTaskDescned: fix horizontal acceleration overriding vertical one 
Also descend with more acceleration again to avoid the risk of ascending instead of descending because of a wrong hover thrust estimate.
 2024-10-25 14:06:00 +02:00
Matthias Grob 37190d4928 navigator: refactor naming of break instead of brake functions 2024-10-25 13:56:20 +02:00
Matthias Grob b8a602414d navigator land: don't project VTOL braking waypoint without global position 2024-10-25 13:56:20 +02:00
Matthias Grob 854086013c SITL parameters: use low battery actions including RTL 
I'm not sure why COM_LOW_BAT_ACT option 2 "Land mode"
was chosen I'd like to also test RTL when I lower the minimum battery percentage in simulation.
 2024-10-08 18:49:23 +02:00
Matthias Grob 4a08ebafbc failsafe: prevent immediate low battery failsafe for existing low battery state 
This happens when BAT_CRIT_THR allows arming with a critical battery level. With this change it still fails the checks but only warns instead of doing the failsafe action because that would immediately land the vehicle before it has taken off.
 2024-10-08 18:49:23 +02:00
Matthias Grob 7941310afd batteryCheck: allow COM_ARM_BAT_MIN to be set lower than BAT_CRIT_THR 
Which still allows to arm the vehicle even if it already has a critical battery level.
 2024-10-08 18:49:23 +02:00
Matthias Grob a5b17f14b0 batteryCheck: refactor to consistent parameter variable naming 2024-10-08 18:49:23 +02:00
Matthias Grob fd04ece6d4 geo: remove dependency on drv_hrt time driver 2024-10-07 14:24:18 +02:00
Matthias Grob f60bb2c6bc rtl_direct: skip loiter altitude items for multicopter without RTL land delay (#23689) 
This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
 2024-09-23 18:33:03 +02:00
Matthias Grob 555b2e6abc BatteryStatus: Clarify "incompatible voltage" error message 2024-09-18 17:18:02 +02:00
Matthias Grob f98eb067be logger params: clarify AUX1 logging trigger 2024-09-05 18:06:29 +02:00
Matthias Grob e4d25df58a Consistently use "stick gesture" for "rc stick gesture" 2024-09-05 18:06:29 +02:00