83b832fdce
ManualControl: fix case where mode switches unintentionally in air
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Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.
I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
2023-07-13 12:00:35 +02:00
2235c40e28
ManualControl: add functional test for switch behavior
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Using the established interface processInput() function.
2023-07-13 12:00:35 +02:00
877f37d79e
ManualControlSelector: add parentheses in condition for clarity
2023-07-13 12:00:35 +02:00
b19b0d0163
ManualControl: separate switches logic function + reset fix
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Fix the previous switches initialized flag getting reset when no RC was
present or in use. This was found during functional testing.
2023-07-13 12:00:35 +02:00
3b2b60adde
ManualControl: put input processing in separate testable function
2023-07-13 12:00:35 +02:00
8dc73c4621
ManualControl: correct manual control input subscription name
2023-07-13 12:00:35 +02:00
258fc786dc
ManualControl: put parameter update into separate function
2023-07-13 12:00:35 +02:00
17535c288c
ManualControl: correct CMake module definition
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modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
2023-07-13 12:00:35 +02:00
632596c1ea
FlightTask: correct header comments
2023-07-13 12:00:35 +02:00
618724b409
Functional gtests: remove unnecessary subscription updates
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A new subscription is updated on instanciation and no additional
update needs to be called for processing the first sample.
2023-07-13 12:00:35 +02:00
f000238987
SensorGps.msg: switch to double precision for lat/lon/alt
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To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
2023-07-13 07:50:09 +02:00
f8c9be087b
drivers: rework NXP UWB driver ( #21124 )
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* UWB driver rework that uses 2 UWB MKBoards - 1 as Controller (Initiator), one as Controllee (Anchor)
Co-authored-by: NXPBrianna <108274268+NXPBrianna@users.noreply.github.com >
2023-07-12 11:44:23 -04:00
9ebfed010f
mag_cal: increase uncertainty of calibration parameters
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in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
2023-07-11 11:33:53 -04:00
9e2e888f5e
ekf2-bias_cal: reduce required stability period
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For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
2023-07-11 11:33:53 -04:00
2f52926972
mag_cal: fix mag bias estimate to mag cal
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- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
2023-07-11 11:33:53 -04:00
69aa8689c0
Revert "rover_pos_control: thrust normalization for joystick input ( #20885 )"
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This reverts commit 22f7d913bd
2023-07-11 08:25:50 -07:00
f5edff2647
ekf2 - preflt checks: scale flow innovation checks
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Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
2023-07-11 08:18:32 -07:00
672b29d555
ekf2: report dist bottom also when using flow for terrain
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Terrain height can be estimated using a range finder and/or optical flow
2023-07-11 08:18:32 -07:00
03528a6200
Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground
2023-07-11 08:18:06 -07:00
bca0be47bc
Apply code review changes from @dagar
2023-07-11 08:18:06 -07:00
9511248514
Removed the huge HAGL fuse timeout increase
2023-07-11 08:18:06 -07:00
f5d9ac4526
Cleaned up some comments and debug code
2023-07-11 08:18:06 -07:00
56c794108d
actual fixes for velocity estimate errors and bad rng fusion
2023-07-11 08:18:06 -07:00
2dcb525cd9
RCUpdateTest: RC switch correct corner case test value
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Co-authored-by: Junwoo Hwang <junwoo091400@gmail.com >
2023-07-11 15:58:48 +02:00
42fa41e601
rc_update: fix on-off-switch with negative threshold values
2023-07-11 15:58:48 +02:00
1fa5136e30
RCUpdateTest: add unit test for return switch
2023-07-11 15:58:48 +02:00
392d445783
RCUpdateTest: fix unit test parameters + restoring state after test
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Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
2023-07-11 15:58:48 +02:00
e127ada07b
rc_update: extend ModuleParams::updateParams() for local parameter updates
2023-07-11 15:58:48 +02:00
87c697a0d6
rc_update: switch back to protected scope and use fixture for testing
2023-07-11 15:58:48 +02:00
81764c43a1
EKF2: use timestamp from argument of PublishEvPosBias() ( #21822 )
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* EKF2: use timestamp from argument of PublishEvPosBias()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/ekf2/EKF2.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2023-07-11 11:07:39 +02:00
e776aca9ef
UUV: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
6b7aed3d44
Boats: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
95a35c972d
Rovers: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
0be6069b83
TiltrotorVTOL: allow stopping front tilted motors in fast forward flight
2023-07-10 18:58:37 +02:00
66b451e61f
TailsitterVTOL: allow explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
5568afbb12
StandardVTOL: explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
6b7b34a71a
FixedWing: explicitly stop forward motor with zero thrust
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This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
2023-07-10 18:58:37 +02:00
2a077181d9
ActuatorEffectiveness: add function to delectively stop motors with zero thrust
2023-07-10 18:58:37 +02:00
afa085da7f
geofence: fix altitude change fence check
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When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
2023-07-06 22:39:39 -04:00
c1cb48c2ea
EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
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Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com >
2023-07-06 09:36:27 +02:00
dccfcb85c1
(Mission) FeasibilityChecker: remove duplicate line
2023-07-04 11:17:23 +02:00
a617e9c54b
Navigator RTL: run find_RTL_destination() only on_inactive
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-04 09:36:22 +02:00
f275085e84
Navigator: Loiter: always establish new Loiter with center at current pos
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When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-04 09:35:40 +02:00
288e3ae74a
EKF2: vision attitude error filter ( #21791 )
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* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
2023-07-03 11:13:59 -04:00
a36c922fc0
ActuatorEffectivenessHelicopterTest: adapt to new constructor
2023-07-03 16:21:27 +02:00
77d6c722a7
helicopter: add tail servo support
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as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
2023-07-03 16:21:27 +02:00
018ec97c41
mavlink_log_handler: handle _next_entry ( #21784 )
2023-07-03 10:30:07 +02:00
b7e2a9c320
FlightTaskAltitude: remove duplicate, deprecated yaw stick handling
2023-07-03 09:52:47 +02:00
4d465533b5
FlightTaskManualAcceleration: remove duplicate yaw stick handling
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It's already instanciated and ran by FlightTaskManualAltitude
which FlightTaskManualAcceleration inherits from.
2023-07-03 09:52:47 +02:00
03183ccacf
mc_pos_control_params: remove forgotten trailing zeroes
2023-07-03 09:52:47 +02:00
Matthias Grob