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Author SHA1 Message Date
Ramon Roche
91c3aac372
ci: Clarify Ubuntu Versions 
* Build release binaries with Ubuntu LTS (24.04)
* Future proof CI by adding the next version of Ubuntu to build matrix
 2025-01-15 08:57:14 -08:00
alexklimaj
33841cf438 Update GPS submodule 2025-01-15 11:54:04 -05:00
bresch
c99cb6e94b ekf2: do not auto-generate sideslip measurement jacobian 
This is to trade a bit of CPU load for more flash space.
 2025-01-15 11:05:50 -05:00
Matthias Grob
e01fef755a Control allocation: make heli rpm control an optional build flag disabled by default 
to save flash.
The rpm capture dirver is also disabled on default releases
 2025-01-15 14:35:35 +01:00
Mathieu Bresciani
8ecb76aba2
[Multirotor] add yaw torque low pass filter (#24173) 
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) 
* 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
Minderring
3064a4ad4c boards configs: add airspeed driver for micoair743 aio and v2 2025-01-14 21:45:49 -05:00
PX4 BuildBot
9f8325e8e0 Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025 
- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): 5e3a42b8f3
    - mavlink current upstream: 619947d8bc
    - Changes: 5e3a42b8f3...619947d8bc

    619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#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 
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
Ramon Roche
0723f75993 ci: move to px4 git tag versions 2025-01-14 13:10:56 -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
b584f8381c Helicopter defaults: don't auto disarm so quickly after spoolup 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
Matthias Grob
50092a7f67 NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged 2025-01-14 10:32:00 +01:00
alexklimaj
e89a79b382 boards: disable multi ekf on all ark flight controllers 2025-01-14 02:29:07 -05:00
Silvan Fuhrer
a16f7859ac boards: disable CONFIG_EKF2_AUX_GLOBAL_POSITION on some boards 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
Silvan Fuhrer
e4e975806f Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default 
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) 
* 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. 
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 
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) 
... and actuator effectiveness
 2025-01-10 16:58:15 +01:00
Balduin
a231fafafa
SIH: Add Standard VTOL Airframe (#24175) 
* 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
Silvan Fuhrer
44b423f48d
drivers: ulanding: description: fix link to user guide section (#24189) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-09 08:54:58 +01:00
Jari Nippula
cbbbbc9dfa logger: fix file open issue if crypto algorithm is disabled 
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 
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
Peter van der Perk
e9536cb30b
Tropic-community use flash as storage using LittleFS (#24158) 
* Update NuttX
 2025-01-08 21:35:08 -05:00
Matthias Grob
b042f2101f system_params: clarify SYS_HAS_MAG description 
after answering the questions:
Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?
 2025-01-08 21:24:00 -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). 
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. 
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
alexklimaj
2625c5211b dronecan: don't init if can interface fails to init 2025-01-08 11:12:57 -05:00
Silvan Fuhrer
585e5d1482 MissionBase: remove unused param 
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 
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 
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 
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 
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 
- 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 
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
ZeroOne-Aero
374e70c48f
ZeroOne X6: add IST8310 support 2025-01-07 09:14:31 +01:00
Silvan
8070a9b362 Commander: remove not used include of blocks.hpp 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-06 09:24:29 +01:00
Alex Klimaj
821558f9e3
boards: ark flow set SENS_FLOW_RATE default to 150 (#24170) 2025-01-03 11:45:33 -09:00