93afe5b2e2
removed inheritance from FlightTaskAuto. Added PrecLandMode but have not implemented its use.
2023-03-15 19:04:41 -08:00
2a765ee809
rewrote the precision landing state machine and logic
2023-03-15 14:30:35 -08:00
abcf122396
unify acceptance radius check
2023-03-13 18:20:07 +01:00
6c55574cd9
formatting
2023-03-13 18:04:13 +01:00
929c3cbde9
update copyright year
2023-03-13 18:03:30 +01:00
924b60df02
rename switch function
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The current name is confusing as it suggest an action,
which is switching to a new state. In reality these
functions first perform a check and then possibly
reject the state switch.
2023-03-13 17:59:23 +01:00
5bbf12737b
rename variable
2023-03-13 16:17:25 +01:00
68df294207
comment and renamed states
2023-03-13 14:26:29 +01:00
a4596401cf
camel case for PrecisionLandingStatus.msg
2023-03-13 11:05:07 +01:00
fa557e79c5
precland estimator stack size 2000 -> 2100
2023-03-13 11:05:07 +01:00
38c0ff3a09
Revert "ROMFS: use precision landing for irlock model"
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This reverts commit 7df1eca426
2023-03-13 11:05:07 +01:00
72b6eabecd
precland: fix spaces in messages
2023-03-13 11:05:07 +01:00
783937ffc5
autostart precland estimator on v5,v5x,v6x
2023-03-13 11:05:07 +01:00
2774186078
precland: fix fallback and slewrate init
2023-03-13 11:05:07 +01:00
02325f38fa
precland: also check flight mode
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So far flight mode manager was checking navigator states,
but not if commander switches to precland on its own.
For example "commander mode auto:precland"
or the flight mode menu in QGC
2023-03-13 11:05:06 +01:00
d66f7b7b43
mission: publish "work item" as current sub flight mode
2023-03-13 11:05:06 +01:00
2bf072e5cd
mission: publish sub flight mode for flightmode manager
2023-03-13 11:05:06 +01:00
f08268adbc
flight_modes: use precision landing when landing
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This also enables precision landing in landing mode, not just during
RTL.
This required an additional fix during the horizontal approach. It seems
like the z setpoint is not set when landing, so we can't blindly use
that setpoint but rather need to keep the altitude.
2023-03-13 11:05:06 +01:00
a214d6de94
ROMFS: use precision landing for irlock model
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With this model we should actually use the precision landing, otherwise
this is just confusing.
2023-03-13 11:05:06 +01:00
5878b0c721
Revert "git move landing_target_estimator to lib dir"
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This reverts commit 17ec100fa9ba6a804b36dc0279df080817fbff81.
2023-03-13 11:05:06 +01:00
2eda7d1379
Revert "Make LandingTargetEstimator a lib and run on work_queue"
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This reverts commit 37c2d242b159ccf55d6de999b268204fde2eed50.
2023-03-13 11:05:06 +01:00
3c0fa76e2f
Make LandingTargetEstimator a lib and run on work_queue
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Currently only precision landing is using the
LandingTargetEstimator and it is a waste to have it
running in the background all the time. With this change
the estimator is only started once the precision landing
flight task is activated, and stopped when the flight
task is deactivated.
2023-03-13 11:05:06 +01:00
7da69412a8
git move landing_target_estimator to lib dir
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This does not compile yet, but helps keep the
history a bit cleaner
2023-03-13 11:05:06 +01:00
ab27954cf7
remove orbit comments from precland message
2023-03-13 11:05:06 +01:00
facd4f4cfe
convert precland to flight task
2023-03-13 11:05:06 +01:00
6e0dee7f11
moved precland from navigator to flighttasks
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PrecisionLanding flight task is not being compiled yet. See next commit.
2023-03-13 11:05:06 +01:00
3bae99267b
fix(precland): Improved log messages ( #21289 )
2023-03-13 08:39:31 +01:00
9be8f81d75
flight_mode_manager: StickAccelerationXY protect from NAN velocity reset
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-03-10 08:17:20 -05:00
435c799f57
uORB: print more decimal places for float32 and float64
2023-03-10 07:39:34 +01:00
91f6ab865c
ROMFS: fix shellcheck error in px4-rc.simulator ( #21282 )
2023-03-10 07:37:45 +01:00
bd5838faf0
FlightTask: don't instaniate unused parameters
2023-03-09 17:40:55 +01:00
eb4da990c3
init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables
2023-03-09 09:40:35 -05:00
b3cc945a5a
ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()
2023-03-09 09:08:27 -05:00
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s ( #21264 )
2023-03-09 09:07:54 -05:00
60b85c2e1a
mavlink: add kconfig option to disable UAVCAN parameter bridge
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- depends on DRIVERS_UAVCAN
2023-03-08 19:30:06 -05:00
eb86cb85b7
removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon
2023-03-09 12:43:47 +13:00
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)
2023-03-08 15:12:48 -05:00
ea20217c1b
kakuteh7v2/mini: EKF2 is already the default
2023-03-08 10:48:31 -05:00
593b3d250d
kakuteh7mini: remove duplicate param defaults
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Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-08 10:48:31 -05:00
ed49ed3903
kakuteh7v2/mini: use EKF2 without mag by default
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This switches from attitude_estimator_q to EKF2 which should now work
without mag when the params are set to SYS_HAS_MAG = 0 and
EKF2_IMU_CTRL = 7 to enable gravity fusion.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-08 10:48:31 -05:00
132e9d2439
modeCheck: add warning when RC enabled but not present
2023-03-08 09:32:56 +01:00
898c0ae5a8
mode_requirements: refactor order of setting flags
2023-03-08 09:32:56 +01:00
7fa8dfe2d2
rcAndDataLinkCheck: always update manual control availability
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and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
2023-03-08 09:32:56 +01:00
f498b90c41
mode_requirements: add manual control for manual modes
2023-03-08 09:32:56 +01:00
636dfdec6a
VScode: fix tasks.json and launch_sitl.json after ign -> gazebo renaming
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PX4_SIM model need the simulator (gz_) prefix
Fix post debug task
Add x500_depth, rc_cessna, standard_vtol
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-07 21:28:39 -05:00
d45aeae1de
ekf2: add and share centralized method to clear inhibited state Kalman gains
2023-03-07 13:27:57 -05:00
7098970a38
Tools: extend documentation parser:
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- Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported)
- Add the possibility for the parser to parse int argument with bitwise shift operators
2023-03-06 18:34:01 -05:00
603d4b999b
Update submodule sitl_gazebo-classic to latest Mon Mar 6 12:38:18 UTC 2023
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- sitl_gazebo-classic in PX4/Firmware (7edce94b93https://github.com/PX4/PX4-SITL_gazebo-classic/commit/9343aaf4e275db48fce02dd25c5bd8273c2d583a
- sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/e3722bf9132567e8dd08b7ed6df2986e21a6ec18
- Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/9343aaf4e275db48fce02dd25c5bd8273c2d583a...e3722bf9132567e8dd08b7ed6df2986e21a6ec18
e3722bf 2023-02-24 Frederic Taillandier - Allowing to override sniffer's modules ip (#963 )
2221c95 2023-02-24 Frederic Taillandier - removing macos 1015 github actions (#962 )
48e9b17 2023-02-24 frederic@auterion.com - removing debug
265198d 2023-02-24 frederic@auterion.com - fixing indentation
de9bf14 2023-02-24 frederic@auterion.com - try fix build by updating the path to the right gazebo
ec8641d 2022-08-24 Konrad - Revert "Enable multi IMU capability in gazebo mavlink interface"
487a789 2023-02-21 Jaeyoung Lim - Revert "Add multi magnetometer capability. Magnetometer plugin now derived from sensorplugin. Magnetometer topic dervied from naming. Updated all models with magnetometer submodel"
2023-03-06 18:33:00 -05:00
2d92bd627a
FWRateController: always update manual_control_setpoint if in manual and FW
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
caee131e6a
FW Position Controller: mini fw_control_yaw_wheel refactoring
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
Jacob Dahl