Alexander Lerach
936eb89edb
logger: fixed watchdog not logging, increased cycle trigger ( #23769 )
2024-10-08 09:53:55 +02:00
Matthias Grob
fd04ece6d4
geo: remove dependency on drv_hrt time driver
2024-10-07 14:24:18 +02:00
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
Alexander Lerach
4215e20120
modules/time_persistor: new time persistor module to save time to persistent storage ( #23760 )
2024-10-04 15:44:49 -04:00
Marco Hauswirth
7d0e93b779
ekf2: always publish global position when origin has been set
2024-10-04 11:41:20 -04:00
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
PX4 BuildBot
51702efe94
boards: update all NuttX defconfigs
2024-10-02 15:08:38 -04:00
bresch
6119b08ef4
mpc: reset integrators when controllers are not used
...
Starting with a non-zero integrator could appear as a strong disturbance
when engaging position mode.
2024-10-02 10:47:25 -04:00
bresch
dbf51da99e
ekf2: rework amsl to ellipsoid altitude conversion
2024-10-01 10:40:18 -04:00
bresch
5bfa6b3359
ekf2: remove redundant ned_origin_initialised flag
2024-10-01 10:37:20 -04:00
Marco Hauswirth
fe40ccd193
EKF2: publish wind after external wind init ( #23747 )
...
* publish wind after external wind init
* move ext-wind-init to estimator-interface
* Update src/modules/ekf2/EKF/estimator_interface.h
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* Update src/modules/ekf2/EKF/estimator_interface.h
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
---------
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2024-10-01 14:33:30 +02:00
alexklimaj
602042dd5c
failure detector use per index esc current
2024-09-30 10:11:34 +02:00
Daniel Agar
332b7bec27
commander: ignore REQUEST_CAMERA_INFORMATION
...
- add answer command logging
2024-09-27 10:33:37 -07:00
Silvan Fuhrer
8fdf0931e5
Commander framework: only warn and do not re-start RTL if already in RTL
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-09-27 14:25:27 +02:00
Alexander Lerach
224aef142c
Retry logic in uxrce_dds_client startup ( #23723 )
...
* Added retries if uxrce_dds_client fails during setup
* Break timesync endless loop in case of agent reset
* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format
* Added review feedback
2024-09-26 17:43:49 +02:00
chfriedrich98
0e65679c9e
Mecanum rover: add dedicated module for mecanum rovers ( #23708 )
2024-09-25 09:35:41 +02:00
bresch
35efe44a6b
ekf2: fusion always succeeds, do not return boolean
2024-09-24 10:48:14 -04:00
bresch
23f343aa3a
ekf2-rng: consider height covariance for terrain reset to range
...
Range does not provide a direct terrain observation but a measurement
relative to the height state. Correlation between height and terrain
must be set properly.
2024-09-24 10:18:25 -04:00
Nicolas MARTIN
d269ddfb49
sensors/vehicle_air_data: fix air data publication rate ( #23717 )
...
Co-authored-by: Nicolas Martin <n.martin@elistair.com>
2024-09-24 09:49:47 -04:00
Marco Hauswirth
454ded1b25
EKF2: ev-vel refactoring ( #23577 )
2024-09-24 14:09:11 +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
Marco Hauswirth
8afd267509
move more ekf function implementations to cpp
2024-09-23 12:18:41 -04:00
Marco Hauswirth
e3f138862a
move implementation of updateAidSrcStatus to cpp file, saves flash
2024-09-23 12:18:41 -04:00
bresch
15ddd94349
ekf2: move implementation to ekf_helper to reduce flash usage
...
saves about 4.8kB of flash on FMUv5
2024-09-23 10:27:42 -04:00
Konrad
c20c1f09a6
RTL_DIRECT: explicitely set force heading in loiter hold if needed
2024-09-23 11:02:02 +02:00
Konrad
02e50bb5dc
rtl_direct: loiter hold should track altitude as best effort but not enforce it
2024-09-23 11:02:02 +02:00
Alvaro Fernandez
2ecffff700
fw_tecs: Support tighter altitude tracking during low-height flight ( #23519 )
...
* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold
* tecs: Applied smoothed-out altitude TC transition to landings
* fw_tecs: modified tighter altitude control for low-height implementation
* addressed PR comments
* addressed PR comments
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-09-19 16:24:53 +03:00
BazookaJoe1900
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
Connor Walker
d01a3d8f04
Fix duplicate entry in gz_worlds list ( #23691 )
2024-09-18 16:36:48 -08:00
Claudio Chies
ab41927bbd
SIM: GZ: Added mono_cam_down and aruco world ( #23687 )
2024-09-18 15:16:27 +02:00
chfriedrich98
8aece9bff2
differential: fix CI issue
2024-09-17 09:34:51 -07:00
chfriedrich98
2fd4150b38
differential: Add stabilized and position mode ( #23669 )
...
* differential: add position and stabilized mode
* differential: add hardcoded stick input deadzones
2024-09-16 12:09:51 +02:00
chfriedrich98
81747f35bb
rover: add descend navigation state to land detection
2024-09-16 09:36:38 +02:00
Konrad
82a7d0410c
DistanceSensorModeChangeRequest: renaming of variable
2024-09-16 09:11:23 +02:00
Konrad
aab2390e51
navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing
2024-09-16 09:11:23 +02:00
Konrad
1755b8304e
RTL direct: Make sure the _rtl_state captures the current status and not the next one
2024-09-16 09:11:23 +02:00
RomanBapst
878c8bfcce
SIH: fix airspeed for tailsitter
...
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2024-09-13 15:53:52 +03:00
Konrad
4713a6737e
TECS: ramp up fast descend over 2_s to ramp down the throttle command
2024-09-13 14:04:39 +02:00
Konrad
585c92796d
mission_base: do not make terrain avoidance check when mission is not run anymore
2024-09-13 13:59:24 +02:00
Claudio Chies
4ba4b340cc
Reduce the orbit jerk by using a slew rate
2024-09-13 10:28:42 +02:00
Marco Hauswirth
22c2878cf8
send acknowledgement after receiving vehicle wind cmd
2024-09-12 09:34:08 +02:00
chfriedrich98
741ea6b707
differential: add individual parameters for speed and yaw rate feedforward
2024-09-11 13:57:27 +02:00
chfriedrich98
5d8a107925
differential: fix closed loop control
...
removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise
2024-09-11 13:57:27 +02:00
Roman Bapst
c94c1ce4d2
Navigator: Support straight line mission landings ( #23576 )
...
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
2024-09-10 17:44:24 +02:00
jmackay2
a5729da4e9
Simplify gz bridge CMakeLists and add GZ Ionic ( #23657 )
...
Co-authored-by: jmackay2 <jmackay2@gmail.com>
2024-09-10 11:53:00 +02:00
bresch
15e9c65a8f
dist-sensor: reduce enum names
2024-09-09 15:40:40 +02:00
chfriedrich98
bb0210ecd7
rover: add rtl as a landed condition for rovers ( #23646 )
...
The RTL sequence from the navigator requires the vehicle to land. This is now handled for rovers by setting its state to landed if it is within the acceptance radius of the home position when in return mode.
2024-09-06 17:21:49 +02:00
