84134e5123
clean up variable declaration
2025-02-26 13:48:59 +01:00
f69361f742
vtol_type: remove unused variable and function for deceleration pitch integral ( #24419 )
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This functionality was moved to FlightTaskTransition and the variable was forgotten in 079b756f1b
2025-02-26 13:37:21 +01:00
5d2814f6c9
dataman KConfig for persistent storage
2025-02-26 12:48:23 +01:00
2169ea561b
PR: add optical flow arming check ( #24375 )
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* add optical flow arming check
* removed deprecated mavlink_log_critical
* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.
* restructure if/else blocks
2025-02-26 08:41:12 +01:00
65a80dc8e6
VTOL: Don't overwrite attitude setpoint in Stabilized transition modes ( #24406 )
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-25 20:06:16 +01:00
7c63468e8b
mecanum: refactor code architecture
2025-02-25 17:06:17 +01:00
c09c63171c
MC auto: fix land nudging
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Revert removal of isTargetModified as this is required when the target
is changed by "RC help" (nudging) during landing.
2025-02-25 09:11:23 +01:00
35d96d57f9
control_allocator: Added linearization feature for 4 servo swash plates to prevent binding ( #23961 )
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* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding
* Apply suggestions from code review
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* update description of CA_LIN_SERVO parameter
* update variable name
* add missing semi-colon
* fix variable referenced before assignment
* add missing indentation
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
* removed param unnecessary param
* removed whitespace
* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.
* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.
* added comment and fixed spelling mistake
* fix spelling mistake
* fix formatting
* reduce CA_MAX_SVO_THROW short description length to stop test failure
* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature
* remove NAN check.
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-24 12:17:11 +00:00
4ea7de449a
InternalCombustionEngineControl - doc corrections ( #24359 )
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* InternalCombustionEngineControl - doc corrections
* Update InternalCombustionEngineControl.cpp
2025-02-21 08:34:08 +11:00
24da87db12
FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN ( #23877 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-20 09:28:27 +01:00
1db50cb331
mavlink: add missing fields for DISTANCE_SENSOR
2025-02-19 12:11:42 -05:00
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
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* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
3c129aefa1
Add IC engine control module ( #24055 )
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Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 17:15:32 +01:00
412d4390a6
MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal ( #24242 )
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* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off
* Increase queue length to avoid automatically unadvertise queued publications with queue length 1
* Improve readability
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Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 14:38:11 +01:00
5e06ab1430
ekf-agp: do not reset to AGP if GNSS fusion is active
2025-02-18 14:35:10 +01:00
3119510f25
Remove health_component::avoidance
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
ed9111ec49
Remove obstacle avoidance test with Gazebo classic and ROS 1
2025-02-18 14:33:16 +01:00
0b370ab5d3
Remove obstacle avoidance MAVLink Heartbeat check
2025-02-18 14:33:16 +01:00
04cd247c90
FlightTaskAuto: remove isTargetModified()
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As it is no longer needed w/o avoidance.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b916a96e00
Remove uorb topics exclusively used for avoidance
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- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg
Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b7b6d45e18
lib: remove bezier
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b34a5eb6f7
PositionControllerStatus: remove unused fields
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Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
d2cbe10243
Clean up temperature msg fields ( #24272 )
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* remove temp field from airspeed.msg, adjust temp selection
* temp-sensor hirarchy: airspeed, ext. baro, default value
* directly use diff-press or baro temp in true-airspeed calc
* improve clarity
* add enum for temperature source in VehicleAirData.msg
2025-02-18 13:23:10 +01:00
e12c3c00a4
control_allocator: param update avoid temporary
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- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
2025-02-17 14:35:15 -05:00
61d595dc64
reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement
2025-02-14 17:10:14 +01:00
fe5c887895
mag check: do not require mag 0
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sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
2025-02-14 16:12:20 +01:00
e3fd50667d
Mag cal: automatically disable internal mags if external ones are available
2025-02-14 16:12:20 +01:00
430be08131
Add payload tx/rx timeouts to DDS
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* Add tx/rx timeouts
* Code style & tx default timeout
* Clarify TX/RX disable value
2025-02-14 14:54:42 +01:00
98cba19f50
esc_battery: report temperature
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-02-11 21:17:53 -05:00
975ec30c9c
uxrce_dds_client: add DDS message versioning
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This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
2025-02-11 13:19:25 +01:00
136f9f48fc
FW Position controller: transform RWTO_PSP to rad when used ( #24312 )
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-11 12:12:11 +01:00
2b75d2e738
run fog check independently from stuck check
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
8cedef2dc4
further cleanup
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
2c4d38e303
fixed mistake
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
806500fc4a
further improve logic
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
73ade6d05c
range finder: remove potential deadlock
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
35da86c85a
improve unit tests for range fog detection
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
ce64263ce7
publish validated airspeed topic ( #24302 )
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* publish validated airspeed topic
* fix typo
2025-02-07 14:44:48 +01:00
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
de1ade8eb8
sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1
2025-02-06 23:47:32 -05:00
8d296a50f9
FlightTask: properly initialize EKF reset counters
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This fixes a race condition when switching from a flight mode that is
not a flight task (e.g.: stabilized). In this case, the reset counters
were initialized to 0 and deltas were applied to the first setpoints if
the EKF had any of its reset counters different from 0.
2025-02-05 13:21:32 -05:00
bd2a009217
commander: remove MC nav test
2025-02-05 11:58:04 -05:00
9e5cfa330a
Commander: Quick calibration supports mag too
2025-02-04 21:58:03 -05:00
a9214b3aa3
gimbal: don't spoof gimbal device ( #24271 )
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The current approach was wrong because the gimbal protocol now
handles the case properly where the autopilot is in charge of a
non-MAVLink gimbal.
This means that we don't need to send message "as if we were a gimbal
device" and instead set thet gimbal_device_id to 1 (up to 6) to indicate
we are in charge or a non-MAVLink gimbal.
2025-01-31 12:59:41 +13:00
4c2e69b2e6
estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration
2025-01-30 18:45:10 +01:00
f142363575
HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes
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Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
2025-01-30 18:45:10 +01:00
3b828e157a
MC att: clarify prioritization algorithm
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Especially rename "mix" which is just the delta yaw angle
2025-01-30 11:28:26 +01:00
ddf591c4f5
Navigator: use FLT_EPSILON instead of 0.0001f for >0 float comparison
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-29 15:42:51 +01:00
Marco Hauswirth