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15280 Commits

Author SHA1 Message Date
Matthias Grob 96b0304049 PreFlightCheck: disallow arming in land mode 
after the automatic switch to Hold mode was introduced.
 2022-06-01 12:08:32 +12:00
Matthias Grob 83c15fca9f Commander: switch back to Hold mode after autonomous landing 2022-06-01 12:08:32 +12:00
Matthias Grob 33df8b24f2 Commander: differentiate clearly between to arm and to disarm transition 2022-06-01 12:08:32 +12:00
Matthias Grob 400e1f8214 Commander: only initialize to tablet mode and don't switch back on RC loss 2022-06-01 12:08:32 +12:00
Beat Küng 0074894637 control_allocator: disable backup schedule with lockstep 
The backup schedule triggers updates too early and leads to simulator errors:
ERROR [simulator] poll timeout 0, 22
 2022-05-31 07:17:30 +02:00
Daniel Agar cb8b5ae872 mavlink: MavlinkStatustextHandlerTest ignore Wcast-align 2022-05-29 09:44:48 -04:00
Daniel Agar 095e0f0604 ekf2: sensor_simulator fix enum shadow 2022-05-29 00:21:08 -04:00
PX4 BuildBot 63155b5b01 Update submodule mavlink to latest Sat May 28 00:38:55 UTC 2022 
- mavlink in PX4/Firmware (56106be4805cb2f70d22ad31b87fbd9774f0d0f3): https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728
    - Changes: https://github.com/mavlink/mavlink/compare/99e82cad70494903a23a67de08ff9cbb5918d8f3...0909631552187b998dd6359f998ee78ee8765728

    09096315 2022-05-26 Hamish Willee - Clarify and cross reference home position everywhere (#1836)
38c1a99f 2022-05-25 Julian Oes - WIND_COV: clarify description and unknown value (#1845)
 2022-05-28 00:06:05 -04:00
Igor Misic 554283655c Revert "px4io: replace safety_off state with safety button event (#19558)" 
This reverts commit 12a81979a8.
 2022-05-26 10:06:32 -04:00
Igor Misic 6aefcbb6cf Revert "px4iofirmware: fix for bug introduced with #19558" 
This reverts commit 79a34b5aed.
 2022-05-26 10:06:32 -04:00
Matthias Grob c03f5b9481 Commander: fix overlooked rebase naming error 2022-05-25 21:10:19 +02:00
alessandro 29c4119e24 Match commander uORB var names to message names (#19707) 
* match vehicle_status

* match home_position

* match vehicle_command_ack

* match actuator_armed

* match vehicle_control_mode

* match commander_state
 2022-05-25 17:08:48 +02:00
Daniel Agar 58ea6235fe ekf2: estimator aid source status (range height) 2022-05-25 09:25:12 -04:00
Daniel Agar 1e25aee6fa ekf2: estimator aid source status (baro height) 2022-05-25 09:25:12 -04:00
Silvan Fuhrer 4dbe6f0a1c simulator_mavlink: fix MAV_TYPE_VTOL_TAILSITTER case 
This type (23) doesn't specify a motor number, so it can't be properly handled.
There are duo (19) and quad (20) tailsitter types that still work in simulation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-24 17:58:44 -04:00
Beat Küng 016b8aeb35 MulticopterRateControl: fix thrust sign for acro 
Regression from fbc109436f
 2022-05-24 15:03:17 +02:00
Matthias Grob 44be415e0e mission_block: make "Delay until" item work while landed 
To enable landing, waiting and taking off again e.g. for delivery.
 2022-05-24 13:42:03 +02:00
Matthias Grob 0be474430c Commander: don't disarm on landing amid a mission 2022-05-24 13:42:03 +02:00
Daniel Agar 639222dd65 ekf2: estimator aid source status (GPS pos, GPS vel) 2022-05-23 16:21:49 -04:00
Daniel Agar 1ae467e9cd ekf2: estimator aid source status (starting with fake position) 2022-05-23 16:21:49 -04:00
Igor Misic 79a34b5aed px4iofirmware: fix for bug introduced with #19558 2022-05-23 14:59:11 -04:00
bresch c57c575cfe ekf2: use explicit flags instead of bitmask position 
This prevents bitmask mismatch when a new flag is inserted
 2022-05-23 14:43:02 -04:00
Serhat Aksun bc220ddb82 sensors/vehicle_magnetometer: fix multi_mode check 
Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>
 2022-05-23 10:09:41 -04:00
Igor Misic 12a81979a8 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-05-23 06:54:37 +02:00
Igor Misic 08dcc72e1f commander/safety: replace safety.msg with Safety class (#19558) 2022-05-23 06:54:37 +02:00
bresch 00e88a02c0 baro bias: improve innovation sequence monitoring 
The baro observation noise parameter is often over-estimated in order as
a measure to mitigate temporary offsets in the readings due to wind
gusts or poor pressure compensation tuning. The side effect is that the
innovation sequence monitoring based on normalized innovation struggles
to detect an offset in the state because the innovation isn't
statistically significant.
To counter this issue, a simpler check is added to trigger the process
noise boost when the innovation has the same sign for a long period of
time.
 2022-05-21 22:37:04 +02:00
Daniel Agar db4545e442 Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022 2022-05-21 14:57:55 -04:00
mcsauder 6b0788ff46 Standardize variable naming and formatting across vehicle attitude controller files. 2022-05-21 12:22:18 -04:00
Daniel Agar c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Julian Oes 33a77c225c commander: lockdown is not termination 
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
 2022-05-20 09:43:32 -04:00
Nicolas MARTIN a0cb7f6258 HITL: undefined time_remaining_s should be NAN 2022-05-20 09:38:43 -04:00
Nico van Duijn 04071b9456 Commander: ignore MAV_CMD_REQUEST_MSG 
This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle
commands which are ignored without generating a warning sound.
 2022-05-20 15:36:42 +02:00
Matthias Grob 38e027ee45 ArmStateMachine: remove dependency on armed.armed 
To have the internal state as single source of truth
for the arming state within Commander.
 2022-05-20 13:51:51 +02:00
Matthias Grob 37c485ce89 ArmStateMachine: move arm state into the class 2022-05-20 13:51:51 +02:00
Matthias Grob 47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
Matthias Grob 887fe7dba2 commander_params: shorten low battery action delay 
I got multiple times the feedback now that a consistent delay
is helpful and makes sense but the default delay
is too long
for low battery action where you're trying to come back in time
and possibly the emergency reaction kicks in while the critical action
is executing which leads to a longer accumulated delay.
 2022-05-19 21:54:09 +02:00
Daniel Agar fd4b62032e commander: publish actuator_armed first on any change 2022-05-19 12:47:50 -04:00
PX4 BuildBot 9518b65f93 Update submodule mavlink to latest Thu May 19 00:38:59 UTC 2022 
- mavlink in PX4/Firmware (87c73145b36a835b1635de0498a5613a7af5cafc): https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3
    - Changes: https://github.com/mavlink/mavlink/compare/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6...99e82cad70494903a23a67de08ff9cbb5918d8f3

    99e82cad 2022-05-19 Hamish Willee - Deprecated GPS_INJECT_DATA (#1842)
bf3df03d 2022-05-16 Hamish Willee - WIND_COV - accuracy units are m/s (#1844)
a73d4864 2022-05-11 Hamish Willee - development.xml FIGURE_EIGHT_EXECUTION_STATUS - add a note about it being set at lower rate (#1841)
 2022-05-18 21:41:08 -04:00
mcsauder e8da98fd14 Add gyro clipping to mirror accel clipping monitoring instances. 2022-05-18 21:16:05 -04:00
mcsauder ea10eacb99 Replace EKF/common.h #defines with enums. 2022-05-18 09:25:19 -04:00
Silvan Fuhrer 8f2c84d36f VTOL paras: add min of 0.1 to transition times 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer c29ca6c959 tailsitter: guard against division by 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 3cf07e1be5 VTOL: rename params _PTCH to _PITCH 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 7c5f0121a5 VTOL: remove some unsued variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer d8444df11c Set tailsitter flag via vehicle status 
Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 7292ce483c VTOL: move to cpp params API 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Matthias Grob 02e11eddce mavlink_mission: add more specific information to the error message 2022-05-17 07:49:00 +02:00
Junwoo Hwang 146f0cafe0 Add get*Expo() functions to the Sticks library 
To return Exponential Values, which is helpful for reducing the
sensitivity of the stick around the centered value (0), since it's
exponential curve.

Useful for user adjustment implementations, where accidentally touching the stick
wouldn't have so much effect when using the Exponential value, compared
to using the raw position value.
 2022-05-16 23:55:05 +02:00