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Author SHA1 Message Date
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
Matthias Grob af06bee8d0 update mavlink & adapt to pymavlink generator reporting failures by default 2024-08-12 16:26:56 +02:00
Matthias Grob 64056fc7bb SYS_STATUS: fill correct attitude, horizontal position flags 2024-08-09 18:22:09 +02:00
Matthias Grob fdfe43471e mavlink_receiver: limit access through instances with gimbal mode 
This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
 2024-08-09 10:13:44 -04:00
Matthias Grob 6cf0bf5e19 Support MAVLink extension MANUAL_CONTROL.aux 
Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
 2024-08-09 10:49:38 +02:00
Matthias Grob 0381e14822 FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick 2024-08-08 10:53:18 -04:00
Matthias Grob a8d54c7fae mixer_module: Reset RC passthrough functions to disarmed value when no stick input 2024-08-07 19:20:51 +02:00
Matthias Grob 8ed3489bd1 hardfault_log: revert to explicit path to not trip the module documentation parser 
- the module documentation parser can only resolve defines from the same file
- also it cannot deal with defines embeded in strings
- what board should it add for the general documentation anyways?

As a result of these issues I suggest to stay with the original hardcoded
/fs/microsd for the documentation. It's still the most common path as far as
I can see.
 2024-08-06 13:43:13 +02:00
Matthias Grob 84d4ee0e60 zenoh-pico: update to correct dev/1.0.0 branch 
which is up to date containing "Use SO_REUSEPORT only if it exists"
and is advertised by GitHub because the commit is on a branch
 2024-08-06 13:42:23 +02:00
Matthias Grob ba579245fb battery_status: remove unused smart battery mode 2024-07-30 14:37:11 +02:00
Matthias Grob a18c18e163 battery_status: remove custom_faults 2024-07-30 14:37:11 +02:00
Matthias Grob 72ed160aa9 batteryCheck: fix comment typo hyster{i,e}sis 2024-07-30 14:37:11 +02:00
Matthias Grob 2e66bbdfb8 battery_status: add failed to arm fault instead of duplicate over temperature 2024-07-30 14:37:11 +02:00
Matthias Grob e06629bfe5 failsafe: unhealthy battery during spoolup leads to disarm 
battery failures can occur upon arming when the load gets sgnificant.
In that case the safest thing to do is prevent a takeoff before anything
worse happens.
 2024-07-30 14:37:11 +02:00
Matthias Grob 0d00543292 batteryCheck: explicitly report missing battery with ID 2024-07-30 14:37:11 +02:00
Matthias Grob 7d79bdfa05 batteryCheck: apply supply circuit breaker also to battery checks 
This was the case in older versions of PX4.
 2024-07-30 14:37:11 +02:00
Matthias Grob edcda80cb9 Commander: adhere to parameter naming convention (#23466) 2024-07-30 14:27:27 +02:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob 7f14110bb1 Fix missing newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob fe3cd4b0cb Add check for missing or duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob e2b31454a3 SubscriptionInterval: move updated, update, copy function to a cpp file 
Saves 17.3 kilobytes of flash 😮
 2024-07-12 23:26:24 +02:00
Matthias Grob 2c3401dc83 uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384) 
* SubscriptionInterval: ensure _last_update is never before timer start
 2024-07-10 12:43:31 -04:00
Matthias Grob c8c46788ed Autostart: load airframes with priority ROMFS -> SD card 2024-07-03 18:32:16 +02:00
Matthias Grob e4446adba1 Add check for high RAM usage 
We had a case where someone took off with an experimental
system with 100% RAM usage on the embedded system
without noticing. This lead to problems during flight.

Since we already have a CPU load check it seems natural
to also check the reported RAM usage.
 2024-06-27 11:20:22 +02:00
Matthias Grob 8cc7c99b59 mavlink: report generator error (#23313) 
Without this flag the command silently succeeds even though the logs contains
an error. It's much more developer friendly to fail early in case of an error.
The log path is then also shown in the console output.
 2024-06-24 10:00:03 +02:00
Matthias Grob 9c83f842be autostart scripts: Reintroduce SYS_PARAM_VER (#22813) 
The case where the airframe maintainer wants to enforce a reset to airframe is
not covered anymore with the `param set-default` mechanism. For products based
on PX4 this is still required to ensure proper functionality after a major update.
 2024-06-18 09:32:51 +02:00
Matthias Grob 68769ea0ec mavlink: use reference instead of pointer to access the MAVLink instance from protocol classes 2024-06-05 16:13:52 +02:00
Matthias Grob 9a7a977625 mavlink_receiver: put all message handling in the same function 2024-06-05 16:13:52 +02:00
Matthias Grob daa89ba30a Jankinsfile-compile: add missing comma after ark_pi6x_default 2024-05-29 15:42:41 +02:00
Matthias Grob d1db0addf9 CameraFeedback: shorten line length such that documentation parser works 
This broke in 4f64acb352 and was also flagged by CI in the pr and since then.
 2024-05-29 11:24:53 +02:00