879622547c
commander: only process one vehicle_command/action_request per cycle
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- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
2022-03-24 22:43:26 -04:00
e528eb5dc4
commander: fix status flags usage (condition_global_position_valid->global_position_valid)
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- broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351
2022-03-24 09:40:15 -04:00
106044be38
Initialize global local projection for rovers
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This commit initializes the global and local projection for rovers
2022-03-24 08:57:53 -04:00
e31304d7d5
Quadchute param update ( #19351 )
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New parameter for actions after a quadchute (COM_QC_ACT)
Co-authored-by: Jonas <jonas.perolini@rigi.tech >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2022-03-24 10:27:32 +01:00
6135bb384b
cleanup module callback registration failed errors
2022-03-23 20:44:50 -04:00
f4c3084c26
init adjustments to ensure used topics are advertised early (primarily for logging)
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- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
2022-03-23 16:51:16 -04:00
e6ed595651
Commander: make last_fail_time_us parameter a reference instead of pointer
2022-03-23 15:04:48 -04:00
eee4aaee4f
Commander: remove dynamic position velocity probation period
2022-03-23 15:04:48 -04:00
f1ec6ea026
make mavlink atttitude setpoints non-exlusive for offboard setpoints
2022-03-23 11:06:40 -04:00
a7ddaf08c4
vehicle_status_flags.msg: remove condition_ prefix to reduce message size
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-03-23 10:37:51 -04:00
194a281fae
Project local coordinates for all fw landing states
2022-03-23 13:34:13 +01:00
cb81c6ac8c
Address review comments
2022-03-23 13:34:13 +01:00
71bfb9c0de
Convert NPFG to local coordinates
2022-03-23 13:34:13 +01:00
28d34bf095
Convert L1 controller to local coordinates
2022-03-23 13:34:13 +01:00
897506267d
Sticks: name getThrottle() explicitly about range
2022-03-23 11:54:05 +01:00
0e5c305163
Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables
2022-03-23 11:54:05 +01:00
f78465428c
Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue
2022-03-23 11:54:05 +01:00
8266a4df98
Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs()
2022-03-23 11:54:05 +01:00
18629bb535
FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes
2022-03-23 10:51:45 +01:00
e03585ca06
FlightTaskOrbit: remap stick input when vehicle faces tangential
2022-03-23 10:51:45 +01:00
db1fb6acf7
Commander: no battery time based RTL when already landed
2022-03-23 10:49:38 +01:00
69f6092031
mavlink_receiver: remove unused land detection publication
2022-03-23 10:49:38 +01:00
c1b9b8a1c0
MulticopterLandDetector: correct comment with outdated time constant reference
2022-03-23 10:49:38 +01:00
b85c4ec475
Commander: rename land detection subscription for consistency
2022-03-23 10:49:38 +01:00
60231bbcb6
navigator: don't reset cruise speed and throttle during a transition as part
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of the VTOL takeoff navigation state
- the reset causes the loiter circle to be reset to home
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-03-22 15:14:02 +01:00
06a9be74fa
microdds: add xrce client
2022-03-22 09:01:05 +01:00
e080fab8f6
Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.
2022-03-21 09:30:04 +01:00
d7de67844f
Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.
2022-03-21 09:30:04 +01:00
475bd42ab8
sensors: add 2nd static notch and migrate existing parameters
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- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
- existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
2022-03-19 14:38:04 -04:00
afeab9587e
gyro_fft: peak detection exclude side FFT buckets
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- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
2022-03-19 14:37:36 -04:00
620f25503c
Add geofence predict param ( #17795 )
2022-03-18 11:44:13 +01:00
36e6527013
ROMFS: MAV_TYPE cleanup
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- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
- cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
2022-03-17 09:28:10 -04:00
3d35929f3e
Put gyro_fft in kernel by default in protected build
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It is a performance issue to run it on user side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2022-03-17 08:01:51 +01:00
d167f91eb8
logger/watchdog: Disable watchdog for NuttX protected/kernel builds
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It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2022-03-17 08:01:51 +01:00
f3f09c1344
PreFlightCheck: add data timeout detection for mag, baro accel and gyro
2022-03-16 11:46:01 +01:00
75aa11c955
PreFlightCheck: refactor sensors preflight checks
2022-03-16 11:46:01 +01:00
b1c1163ee4
PreFlightCheck: remove unused device_id argument
2022-03-16 11:46:01 +01:00
5f1b577b6d
PreFlightCheck: mark sensor required if used by an EKF2 instance
2022-03-16 11:46:01 +01:00
6d0b11ca99
add custom target for uorb_sources_microcdr_gen
2022-03-15 17:59:22 -04:00
5f43be9d60
preflight checks: add check for distance sensor (via parameter)
2022-03-15 10:44:27 +01:00
7ef38112d2
ekf2: return saved mag bias variance when not in 3d magnetometer fusion
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- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
2022-03-14 21:03:41 -04:00
5717434e93
ekf2: initialize GPS drift metrics to NAN rather than 0
2022-03-14 10:09:24 -04:00
62d1058cc2
log irlock_report and landing_target_pose messages
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Need to log both, because on some systems the
information will come in directly as a
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
2022-03-14 10:13:08 +01:00
f1e44c6e2a
PreFlightCheck: only allow modes suitable for takeoff
2022-03-14 09:03:39 +01:00
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest ( #19149 )
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- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
2022-03-12 12:56:31 -05:00
3d54d25867
sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP)
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- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
- deleting to save a little bit of flash (and storing the temperature wasn't useful)
2022-03-12 11:38:49 -05:00
aa64789792
sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate ( #19318 )
2022-03-12 11:29:23 -05:00
58a4c38519
rtl: don't fly mission landing if we trigger rtl in hover
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-03-11 15:23:31 +03:00
f4c300af25
FlightTaskAuto: Nudging: only set yawrate_sp if WV is disabled or stick out of dead-zone
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Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-03-11 09:18:31 +01:00
71850eeda6
mavlink: Add flow control parameters ( #19254 )
2022-03-10 08:22:00 -08:00
Daniel Agar