Mathieu Bresciani
8ecb76aba2
[Multirotor] add yaw torque low pass filter ( #24173 )
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co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com>
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
2025-01-15 14:02:28 +01:00
Jaeyoung Lim
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library ( #24196 )
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* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
2025-01-15 10:12:29 +01:00
PX4 BuildBot
9f8325e8e0
Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025
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- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): 5e3a42b8f3619947d8bc5e3a42b8f3...619947d8bc#2197 )
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196 )
2025-01-14 21:45:04 -05:00
bresch
12a9087e92
ekf2: constrain max variance by zero innovation update
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Clipping the variance of the covariance matrix has a destabilizing
effect as it increases the correlation between the states.
2025-01-14 21:42:33 -05:00
Matthias Grob
bc92008885
RpmControl: Better consider the case where there's no rpm measurement (anymore)
2025-01-14 14:55:34 +01:00
Matthias Grob
5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
Matthias Grob
2506bd3b5d
RpmControl: simplify the entire control logic
2025-01-14 14:55:34 +01:00
Matthias Grob
1c4325db6d
RpmControl: split into cpp source file fixing includes
2025-01-14 14:55:34 +01:00
Matthias Grob
2772ae7e0e
RpmControl: maximum rpm outliers are now caught by RpmCapture
2025-01-14 14:55:34 +01:00
Matthias Grob
ddd410e9d8
RpmControl: remove status message because it by now only contains redundant information
2025-01-14 14:55:34 +01:00
Matthias Grob
4050cedfaf
RpmControl: call local message instance after message name following the convention
2025-01-14 14:55:34 +01:00
Matthias Grob
cd0e04f8b0
RpmControl: name current timestamp now following the convention
2025-01-14 14:55:34 +01:00
oravla5
ee67e4bb28
RpmControl: class clean up
2025-01-14 14:55:34 +01:00
Matthias Grob
940fe45ba7
ControlAllocator: introduce helicopter rotor rpm controller
2025-01-14 14:55:34 +01:00
Silvan Fuhrer
e4e975806f
Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-14 02:19:49 -05:00
Jacob Dahl
0fb8463b79
logger: always log can_interface_status ( #24071 )
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* logger: always log can_interface_status
* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
2025-01-13 10:15:40 -07:00
mahimayoga
879e0ea9b1
MC-hte: use allocated thrust as input for hover thrust estimator.
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Improves estimates on vehicles where thrust is often saturating.
2025-01-13 11:56:09 +01:00
mahimayoga
28fa044386
MC-stabilized: rescale thrust input to hover thrust at zero stick input
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Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
2025-01-13 11:56:09 +01:00
Jaeyoung-Lim
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
Jaeyoung Lim
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
Balduin
a231fafafa
SIH: Add Standard VTOL Airframe ( #24175 )
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* add standard vtol airframe to SIH.
mostly took changes from 4d930bde and applied to main.
generate_fw_aerodynamics now takes four arguments rather than using the
_u class member, because depending on vehicle type _u is used
differently.
2025-01-09 15:40:06 +01:00
Jari Nippula
cbbbbc9dfa
logger: fix file open issue if crypto algorithm is disabled
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move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
2025-01-09 07:45:09 +01:00
bresch
ab70ae3252
ekf2: fix GNSS drift false alarm
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In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The
issue is that saturating such a signal creates an artificial bias. This
made the check fail as the bias was above the threshold.
2025-01-08 21:40:25 -05:00
mahimayoga
c3e370b946
MC land detector: fix parameter description for LNDMC_ROT_MAX
2025-01-08 18:03:35 +01:00
mahimayoga
b4273bde25
FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX).
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Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.
2025-01-08 18:03:35 +01:00
mahimayoga
18b4b18a75
FW land detector: do not check for groundspeed if invalid.
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In case the local position speed estimate is not valid, it is assumed to be 0m/s and
thus check always passes.
2025-01-08 18:03:35 +01:00
Silvan Fuhrer
585e5d1482
MissionBase: remove unused param
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-08 09:31:55 +01:00
Silvan Fuhrer
d98a706380
RTL fast reverse: enable precision landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-08 09:31:55 +01:00
Silvan Fuhrer
368bbfeb3b
RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-08 09:31:55 +01:00
Silvan Fuhrer
e29c86c81f
rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-08 09:31:55 +01:00
Silvan Fuhrer
0ecc8278b6
Navigator: RTL_direct: onyl start precision land if param is set to enable
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-08 09:31:55 +01:00
RomanBapst
1abc27dd1f
remove fixed-wing condition from airspeed fusion condition
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- enables airspeed fusion to begin during transition already
- airspeed fusion is started based on airspeed being above defined threshold
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2025-01-07 16:19:33 +01:00
bresch
b1773df441
ekf2: fix comments about primary height sources
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Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
2025-01-07 10:23:13 +01:00
Silvan
8070a9b362
Commander: remove not used include of blocks.hpp
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Signed-off-by: Silvan <silvan@auterion.com>
2025-01-06 09:24:29 +01:00
Alex Klimaj
1043aebf5d
analog_battery: add option for filter ( #23987 )
2025-01-03 16:01:16 +01:00
bresch
f1a339e7c6
fw-att: avoid multiple conversions
2025-01-03 15:07:52 +01:00
bresch
9bf5257e0e
fw-att: fix wheel controller
2025-01-03 15:07:52 +01:00
Silvan Fuhrer
e2ea48bb79
Simulation: add SystemPowerSimulator to publish SystemPower.msg in sim
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-03 14:07:15 +01:00
Silvan Fuhrer
eac12ee9ce
BatterySimulation: remove unused _battery_pub
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The simulated battery is published by the regular battery class.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-01-03 14:07:15 +01:00
Nicolas MARTIN
4fe6d69966
local position acceleration: use mean value between two publications ( #24105 )
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To avoid aliasing on the ned acceleration, add an accumulation of acceleration to improve the downsampling
2025-01-03 12:43:39 +01:00
bresch
c1589ddb18
ekf2-rng: do not continuously reset terrain in rng height ref
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When the height reference datum is ground level (range finder height
ref), the terrain state is not updated through fusion and should stay at
a constant altitude.
2025-01-03 12:25:16 +01:00
Jacob Dahl
0b1838f233
test: add test for range finder fusion while on ground
2025-01-03 12:25:16 +01:00
Mahima Yoga
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
Roman Bapst
b765769f50
Navigator: Set altitude acceptance radius to infinity when moving to land point after transition ( #24115 )
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* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2024-12-20 09:21:32 +01:00
Matthias Grob
61961350f9
mavlink_receiver: don't publish out of range joystick input
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Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
2024-12-19 17:59:41 +01:00
Matthias Grob
5cf85e320a
offboardCheck: acceleration setpoints only require vehicle attitude control
2024-12-19 17:58:38 +01:00
Matthias Grob
ad799b64b7
mc_pos_control: shorten parameter descriptions to a readable size
2024-12-19 16:12:43 +01:00
Matthias Grob
1239f0aaed
FlightTaskTransition: Comment why using invalid horizontal velocity works
2024-12-19 16:00:21 +01:00
Matthias Grob
34bcc277a5
FlightTaskTransition: keep high decelration when overshooting the transition target
2024-12-19 16:00:21 +01:00
Matthias Grob
11d7dd41fd
FlightTaskTransition: clean up and simplify
2024-12-19 16:00:21 +01:00
