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Author SHA1 Message Date
Daniel Agar 38d67f5a93 drivers/ins/vectornav: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 00d6bef6a9 cmake/gtest: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 45bdf20481 lockstep_scheduler: bump cmake minimum to 3.5 2025-04-30 18:12:33 -04:00
Daniel Agar 90b2290700 Tools: docker_run.sh fix entrypoint as user 
- modern docker can specify the user at runtime (--user)
 2025-02-18 00:26:06 -05:00
Daniel Agar 38de04a53a Tools/setup/ubuntu.sh: add curl for NXP mr-canhubk3 build (#24346) 2025-02-17 20:06:24 -08:00
Daniel Agar e12c3c00a4 control_allocator: param update avoid temporary 
- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
 2025-02-17 14:35:15 -05:00
Daniel Agar bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
Daniel Agar 6322ebc3db rcS: shift sensors + EKF startup earlier 
- we want the drivers, sensors hub, and estimator running as soon as possible to initialize and avoid commander false positives complaining about missing data
 2025-01-22 15:27:56 -05:00
Daniel Agar b1ca0495e2 ekf2: yaw estimator additional validity checks 2025-01-20 09:45:41 +01:00
Daniel Agar 81552fc036 uavcan: relax UAVCAN_RNG_MIN/UAVCAN_RNG_MAX defaults (#24140) 
- this is optional sensor metadata that can be set if actually needed
 2024-12-26 19:10:31 -07:00
Daniel Agar 8a18e5b00c commander: accelerometer calibration respect rotation 
- accel cal use Accelerometer calibration class to fully respect
   rotation (both internal and external sensors)
 2024-12-17 22:26:01 -05:00
Daniel Agar 990b067b25 uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule 2024-11-27 14:09:13 -08:00
Daniel Agar 68cbbaab92 Tools/astyle: check_code_style_all.sh skip pre-commit hook if non-interactive 2024-11-27 13:51:10 -08:00
Daniel Agar e194a52907 ekf2: derivation.py remove sideslip small angle approximation 2024-11-25 08:53:57 +01:00
Daniel Agar 233cf17fa7 Jenkins: delete Jenkinsfile-compile/Jenkinsfile-hardware 
- Jenkinsfile-compile is now redundant with github actions
 - Jenkinsfile-hardware will be migrated to github actions once new test
   rack hardware is available (old test rack server died)
 2024-11-21 12:31:02 -05:00
Daniel Agar cad2de228c .github/workflows/clang-tidy.yml - clang-tidy checks retry if failed 
- this clang tidy runner occasionally fails intermittently
 2024-11-20 18:14:33 -05:00
Daniel Agar 7288d16855 mavsdk_tests set nice levels for px4/gzclient/mavsdk_tests 2024-11-20 14:45:11 -05:00
Daniel Agar ada2bb4c42 uORB_tests: relax latency threshold on non-realtime SITL 2024-11-20 14:10:39 -05:00
Daniel Agar 1d2ed28966 init.d-posix/rcS: relax default COM_RC_LOSS_T/COM_OF_LOSS_T with speed factor (0.5->1.0) 2024-11-20 09:36:06 -08:00
Daniel Agar 635e162a0c test/mavsdk_tests: continue sending manual control between steps in fly_forward_in_posctl()/fly_forward_in_altctl() 2024-11-20 09:36:06 -08:00
Daniel Agar a2156244d3 uxrce_dds_client: CMakeLists.txt cleanup 
- common variable for Micro-XRCE-DDS-Client
 - don't mix tabs and spaces
 - px4 module include all dependencies
 2024-11-12 21:20:54 -05:00
Daniel Agar 371a99c322 drivers/uavcan: subtree merge last working libuavcan (preserving history) (#23819) 
- fully absorb the libuavcan submodule (renamed libdronecan to deconflict) up to our last good working commit and preserve all history (upstream libuavcan was broken and then marked deprecated)
 - fixes https://github.com/PX4/PX4-Autopilot/issues/23727
 - this puts us in a much better position to be able to evolve the library going forward ow that we have full control in tree
 2024-10-17 16:20:19 -04:00
Daniel Agar e59cc9afeb drivers/uavcan: subtree merge last working libuavcan (preserving history) 
- upstream libuavcan was broken and then marked deprecated, this fully absorbs the submodule (renamed libdronecan to deconflict) up to our last good working commit and all commit history is kept
 - fixes https://github.com/PX4/PX4-Autopilot/issues/23727 (regression introduced in #23113)
 - this puts us in a much better position to evolve the library as needed now that we have full control
 2024-10-16 13:31:17 -04:00
Daniel Agar f971c0e617 ekf2: reduce bad acc probation time 10s->3s 2024-10-07 10:37:33 +02:00
Daniel Agar 9ddac762e3 ekf2: stricter GNSS vel rejected innovation override 
- in the special case of bad vertical acceleration detected
   (bad_acc_vertical) only allow overriding rejected GNSS 3D velocity
   if horizontal innovations are accepted
 2024-10-07 10:36:09 +02:00
Daniel Agar 9238656a33 ekf2: configurable velocity state constraint (EKF2_VEL_LIM) 
- replace hardcoded 1000 m/s velocity state constraint with new EKF2_VEL_LIM parameter (default 100 m/s)
 - new velocity limit also used for GPS checks and external vision velocity
 2024-10-07 10:35:48 +02:00
Daniel Agar ad28c5893b flight_mode_manager: invalidate dist to bottom/ground on terrain reset 
- this allows the terrain hold to simply reset on the next valid update
   rather than trying to adjust the setpoints
 2024-10-04 11:28:03 -04:00
Daniel Agar 34ee097f02 ekf2: tighten terrain validity requirements 
- require valid fusion from a range finder or optical flow before
   considering terrain valid again
 2024-10-04 10:31:20 +02:00
Daniel Agar e08dc400a2 Jenkinsfile-compile remove non-existant zeroone_x6_rover target 2024-10-02 12:38:54 -04:00
Daniel Agar 19441a12da fix Jenkinsfile-compile missing comma and sort list 2024-10-01 13:12:17 -04:00
Daniel Agar 332b7bec27 commander: ignore REQUEST_CAMERA_INFORMATION 
- add answer command logging
 2024-09-27 10:33:37 -07:00
Daniel Agar e4dd3f2871 boards/px4/fmu-v5: stackcheck remove FW modules (flash overflow) 2024-09-18 11:34:48 -04:00
Daniel AgarandMathieu Bresciani 5b0014cb06 ekf2: remove legacy accel z bias checks (#23341) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-08-29 11:51:27 -04:00
Daniel Agar f3d58cdf10 ekf2: resetFlowFusion() pass flowSample by const ref 2024-08-27 10:38:17 -04:00
Daniel Agar 6c24413888 ekf2: filter flow vel (used for flow velocity reset) 
- individual flow samples can be quite erratic
 2024-08-27 10:38:17 -04:00
Daniel Agar ac48b8b51d ekf2: mag declination fusion always if there is no aiding 2024-08-27 16:16:55 +02:00
Daniel Agar 2a9e205442 ekf2: fuseDeclination respect mag update_all_states 
- when both mag_hdg/mag_3d are inactive we should be able to continue
   updating mag without any possible impact on other states
 2024-08-27 16:16:55 +02:00
Daniel Agar 9d57a3c02f ekf2: split resetMagCov() and skip mag reset if negligible change 2024-08-27 16:16:55 +02:00
Daniel Agar bbcf741e9e ekf2: make mag control responsible for WMM 
- this further untangles mag control (which requires the WMM) from GPS
 2024-08-27 16:16:55 +02:00
Daniel Agar a75db1286d logger: automatically limit buffer size to largest available free chunk (NuttX only) 2024-08-26 13:24:39 -04:00
Daniel Agar ebbb880e92 ekf2: always use corrected accel/gyro for filtered metrics 2024-08-23 17:35:59 -04:00
Daniel Agar 56560726d3 ekf2: sensor simulator fix GPS replay scaling 2024-08-23 14:35:05 -04:00
Daniel Agar d7b165991f cmake: relax git tag requirements 
- default to v0.0.0 if tag isn't available
 - src/lib/px_update_git_header.py use same PX4_GIT_TAG as cmake
 - update lingering master branch references to main
 2024-08-23 12:05:34 -04:00
Daniel Agar 7250ee1b32 ekf2: organize gyro_bias/accel_bias param yaml 2024-08-22 10:56:16 -04:00
Daniel Agar ebbd2c1825 ekf2: organize aid source parameters 2024-08-22 10:56:16 -04:00
Daniel Agar f7e6e1354a commander: power check only keep error thresholds 2024-08-15 10:06:56 -04:00
Daniel Agar c9343ca11d sitl_gazebo-classic update submodule to latest 2024-08-12 16:26:56 +02:00
Daniel Agar fd72578e98 ekf2: avoid constraining parameters every iteration 2024-07-25 09:51:35 +02:00
Daniel Agar 9ff6c4bf28 remove newlines 2024-07-19 18:25:43 -04:00
Daniel Agar 85de0ff227 boards: move ARK fmu-v6x/pi6x to dedicated RC drivers 2024-07-19 15:42:05 -04:00
Daniel Agar 3a3f04c0f4 drivers/rc: new standalone ghst_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 7a6c4f0bfa drivers/rc: new standalone sbus_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 561dceea7b drivers/rc: new standalone dsm_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar ca9948a84d msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio 
- this is used for more than just mag
 2024-07-18 16:39:18 +02:00
Daniel Agar eac14b7db2 ekf2/commander: simplify navigation filter preflight checks 
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
 2024-07-18 16:39:18 +02:00
Daniel Agar f8f8ddc101 ekf2: optical flow update last hor vel timestamp on success 2024-07-17 14:46:48 -04:00
Daniel Agar 691fdf713c ekf2: airspeed update last hor vel timestamp if successfully updating all states 2024-07-17 14:46:48 -04:00
Daniel Agar 57c1ba545f ekf2: fake_hgt don't use fuseVerticalPosition helper 
- fake_hgt shouldn't update _time_last_hgt_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar 6fe0fa6d63 ekf2: fake_pos don't use fuseHorizontalPosition helper 
- fake_pos shouldn't update _time_last_hor_pos_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar c5c27a87f1 ekf2: track last terrain fuse time and update logic 2024-07-17 10:16:32 -04:00
Daniel Agar f832ae688d ekf2: require valid filter vz for GPS vspeed check 2024-07-16 10:15:19 -04:00
Daniel Agar 397ff4a102 ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues 2024-07-16 11:10:58 +02:00
Daniel Agar 13b62a74d6 ekf2: optical flow adjust jacobian epsilon to avoid numerical issues 
- in the generated code there's a 1 / eps^2 term if the height and
   terrain estimates are the same
 2024-07-16 11:10:58 +02:00
Daniel Agar 48f1687d3a ekf2: cleanup legacy EKF solution_status_flags 2024-07-16 10:11:27 +02:00
Daniel AgarandMathieu Bresciani 1cd7d54170 ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-07-15 12:50:51 -04:00
Daniel Agar 8e5f28f834 ekf2: rng only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 80ee622f77 ekf2: baro only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 40349fa3dc ekf2: EV velocity control should own vertical velocity reset if height failing 2024-07-15 11:39:56 -04:00
Daniel Agar 177613eb68 ekf2: GNSS velocity control should own vertical velocity reset if height faiing 
- GNSS height control using the velocity sample directly is ignoring
   potential position offsets
 2024-07-15 11:39:56 -04:00
Daniel Agar e03aef616c ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position) 2024-07-15 10:25:42 -04:00
Daniel Agar a5a67315fd ekf2: optical flow magnitude check compensated 
- additionally don't use flow for reset if magnitude isn't acceptable
 2024-07-15 09:46:59 -04:00
Daniel Agar dc5f8118b0 ekf2: range finder cleanup duplicate logic 2024-07-15 11:37:36 +02:00
Daniel Agar 9124a7b471 ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer 2024-07-10 21:20:47 -04:00
Daniel Agar ac77049c47 ekf2: directly use IMU sample to find corresponding aid source sample 
- I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample
 2024-07-10 21:20:47 -04:00
Daniel Agar f93dc61770 ekf2: use bias corrected angular velocity 
- avoid unnecessarily storing _ang_rate_delayed_raw
 2024-07-10 21:20:47 -04:00
Daniel Agar 75bb339d94 ekf2: remove warning events logging 
- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
 2024-07-10 10:43:55 -04:00
Daniel Agar c29b4ff87e ekf2: apply astyle formatting and enforce 2024-07-10 10:43:55 -04:00
Daniel Agar 223397c20e ekf2: always add accel/gyro bias process noise 
- continue adding accel/gyro bias process noise even if inhibited
 2024-07-10 11:49:01 +02:00
Daniel Agar 62ff39a669 ekf2: EV vel (body) update last fuse timestamps 
- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
 2024-07-09 10:16:12 -04:00
Daniel Agar 5d08b97fd7 ekf2: add vehicle_local_position dist_bottom_var 2024-07-09 10:10:01 -04:00
Daniel Agar 3e3b886b5d ekf2: add terrain estimator_status_flags 2024-07-09 10:10:01 -04:00
Daniel Agar 64a6971bdb ekf2: only limit opt flow HAGL if range only terrain 
- increase HALG limit from 75%->90% of sensor max
 2024-07-09 10:10:01 -04:00
Daniel Agar c56f84fe8a ekf2: range, check if terrain valid for reset on fusion timeout 2024-07-09 10:10:01 -04:00
Daniel Agar e52025cc20 ekf2: optical flow fusion timeout only reset if quality is good 2024-07-09 10:10:01 -04:00
Daniel Agar 6be06ecbb3 ekf2: optical flow failing also reset terrain if needed 2024-07-09 10:10:01 -04:00
Daniel Agar ea8f14b883 ekf2: optical flow logic, timeout if bad_tilt, etc 
- previously we could get stuck with optical flow still technically
   active (_control_status.flags.opt_flow=true), but nothing being
updated due to excessive tilt, etc
 2024-07-09 10:10:01 -04:00
Daniel Agar 8bf15b01c4 ekf2: optical flow don't compute innovation variance twice 
- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H
 - this is a relatively expensive call we can easily avoid with the
   right structure
 2024-07-09 10:10:01 -04:00
Daniel Agar f709ed409d ekf2: optical flow stop reset all flags 2024-07-09 10:10:01 -04:00
Daniel Agar 9dfd82ab06 ekf2: optical flow remove _flow_data_ready flag 2024-07-09 10:10:01 -04:00
Daniel Agar 7047f9441c ekf2: fix calcOptFlowBodyRateComp() gyro bias 
- adjust flow sample gyro_rate immediately after popping from ring
   buffer
 - always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
   of flow quality or magnitude
 2024-07-09 10:10:01 -04:00
Daniel Agar 4d324da9f8 ekf2: update flow aid src status every sample 2024-07-09 10:10:01 -04:00
Daniel Agar bcd666b3f8 ekf2: fix optical flow start logic 
- remove fallthrough that enables flow regardless of success
 - add appropriate start messages for each case
 2024-07-09 10:10:01 -04:00
Daniel Agar bf4e564b23 ekf2: resetTerrainToFlow() reset aid src status appropriately 2024-07-09 10:10:01 -04:00
Daniel Agar ced609daa8 ekf2: flow fusion start require valid fusion 2024-07-09 10:10:01 -04:00
Daniel Agar 1df8f3f9d2 ekf2: resetFlowFusion() reset aid src status appropriately 2024-07-09 10:10:01 -04:00
Daniel Agar 0742d356f5 ekf2: more conservative clipping checks for bad_acc_clipping fault status (#23337) 
- track accel clipping count per axis
 - only set bad_acc_clipping fault_status if at least one axis is
   clipping continuously or if all have been clipping at warning level
 - Note: this doesn't impact the clipping projections that boost the
   accel process noise, pause bias estimation, and skip gravity fusion
   on a per sample basis
 2024-06-28 16:45:08 -04:00
Daniel Agar 30b854da35 ekf2: verbose logging control (new EKF2_LOG_VERBOSE) 
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
 - force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
 - logger optionally log all estimator topics at minimal rate
 2024-06-27 01:10:57 -04:00
Daniel Agar 78fd9a15f8 flight_mode_manager: delete unused avoidance waypoint 2024-06-27 01:08:16 -04:00
Daniel Agar 338bcc6ca3 ekf2: disable EKF2_EV_CTRL and EKF2_AGP_CTRL by default 2024-06-26 17:10:28 -04:00
Daniel Agar 30ce560e3a ekf2: mag control reset filtered test ratio on start (if aligning yaw) 2024-06-20 13:41:54 -04:00