8b1975cb98
SIH: lower IMU noise before takeoff
...
This speeds-up the EKF alignment
2024-11-29 14:21:29 +01:00
cd18138b1c
SIH: add transport rate acceleration to local acceleration
2024-11-29 14:21:29 +01:00
674aa474e7
SIH: use LatLonAlt class
2024-11-29 14:21:29 +01:00
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
7cf42727fb
lla: add functions to convert from and to ECEF
2024-11-29 14:21:29 +01:00
7ee69d616d
SIH: rework FW ground contact
2024-11-29 14:21:29 +01:00
5d33971712
SIH: refactor MC ground contact
2024-11-29 14:21:29 +01:00
5d7b734bc9
SIH: ellipsoidal earth model
...
SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-11-29 14:21:29 +01:00
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
17c24bafbc
mission_block: simplify timeout check
2024-11-28 20:23:36 +01:00
ec1cf04bc9
mission_block: fix style, shorten debug message strings
2024-11-28 20:23:36 +01:00
8b3c78a0a4
Navigator: add optional delay after gimbal mission items
2024-11-28 20:23:36 +01:00
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
8a9bac29a2
SIH-FW: allow pitching up during takeoff
...
Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
7236ef2d17
SIH-FW: fix aileron and elevator signs
...
This broken when changing from mixer files to the control allocation module.
2024-11-27 11:14:56 -05:00
1dad25b763
SIH: do not assume being a tailsitter when creating airspeed measurement
2024-11-27 11:14:56 -05:00
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
e194a52907
ekf2: derivation.py remove sideslip small angle approximation
2024-11-25 08:53:57 +01:00
14fe6c2167
ekf2: resetHeightTo -> resetAltitudeTo
...
The vertical position state is now an altitude, not just a local height
2024-11-22 15:13:47 +01:00
93c690f133
ekf2: do not inline getPosition
2024-11-22 15:13:47 +01:00
a224d38e52
lla: move implementation to cpp file
...
This reduces flash usage
2024-11-22 15:13:47 +01:00
aeb182a8ed
ekf2: rename resetAltitudeTo to initialiseAltitudeTo
...
This is to better show that the altitude is also used to set the origin.
2024-11-22 15:13:47 +01:00
30d98885b7
update change indicator
2024-11-22 15:13:47 +01:00
814a2706f5
ekf2: compensate for coriolis and transport rate accelerations
2024-11-22 15:13:47 +01:00
842212df6c
ekf2: update earth rate also without GNSS
2024-11-22 15:13:47 +01:00
6becccb217
update change indicator
2024-11-22 15:13:47 +01:00
a492457322
ekf2-derivation: build state struct based on type
2024-11-22 15:13:47 +01:00
13c5bd4412
ekf-flow: do not reset position when resetting to flow
...
Flow only provides velocity information
2024-11-22 15:13:47 +01:00
b19a6ee3b5
ekf2: store position state as lat/lon/alt
...
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
8ccd43dc1b
refactor commander: remove unused argument is_armed in Report class
2024-11-21 14:16:22 +01:00
be300b767d
commander: ensure health report is always sent out before failsafe notificaation
...
As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
2024-11-21 14:16:22 +01:00
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
f41a08aea8
CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change
...
rewrite of obstacle_distance merging methods, and fix of various issues
2024-11-21 11:36:03 +01:00
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
079f3ca67c
StickAccelerationXY: Simplify collision prevention call
2024-11-21 11:36:03 +01:00
0cd6a553b9
CollisionPrevention: rewrite for Acceleration based manual flight mode
2024-11-21 11:36:03 +01:00
2f8460da91
Update submodule mavlink to latest Wed Nov 20 13:16:31 UTC 2024
...
- mavlink in PX4/Firmware (7e594e898b2281e7d3f6ef4057f1add829643058): https://github.com/mavlink/mavlink/commit/e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/0e420102dbdd7e9f59617dd00c05a2470f22eef2
- Changes: https://github.com/mavlink/mavlink/compare/e221d46d4631a5b6f1e91040cb1fe4b6fa91ea43...0e420102dbdd7e9f59617dd00c05a2470f22eef2
0e420102 2024-11-20 David Sastre - development.xml: change OPERATOR_CONTROL id to 32100: (#2174 )
01e0cc2f 2024-11-14 Hamish Willee - SMART_BATTERY_INFO - revert and renumber BATTERY_INFO (#2173 )
2024-11-20 22:33:21 -05:00
3f83a8fa7a
mavlink: remove reference to COLLISION message I had missed
...
Should have been part of
b5d18c6131
2024-11-20 13:02:59 -05:00
a191e1e14e
always allow disabling uncalibrated baro ( #23782 )
...
* always set baro calibration id and prio param
* change to ParametersSave
* only save baro calib param if not calibrated
2024-11-20 14:05:46 +01:00
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
3943025f32
Centralize yaw margin ( #23982 )
2024-11-20 09:52:36 +01:00
a85a9eccf7
boards: update all NuttX defconfigs
2024-11-15 21:14:12 -05:00
08155d20f8
estimatorCheck: have low position warning as health component failure to fix reporting
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
3093c593a5
Commander: put action for low position estimation accuracy into parameter
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
f9c4c8b22c
VehicleIMU: move setting of _notify_clipping from constructor to ParametersUpdate()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-13 12:10:48 -05:00
ea1a6a327c
flow: add scale factor parameter
2024-11-13 10:28:29 -05:00
d14c054149
SIM: MPC: add two x500 lidar airframes ( #23879 )
...
* add two x500 lidar airframe, including the gazebo bridge for the lidar sensors and their orientation
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
* Update src/modules/simulation/gz_bridge/GZBridge.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
* update submodule
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2024-11-13 08:44:19 +01:00
31bef770aa
replay: do not fail on first ignored topic
2024-11-12 21:22:25 -05:00
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
990811098b
MulticopterRateControl: refactor torque setpoint naming
2024-11-12 21:21:40 -05:00
bresch