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27102 Commits

Author SHA1 Message Date
Matthias Grob
c27181a154 Rename RoboClaw -> Roboclaw 
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
 2023-11-28 16:30:17 +01:00
Matthias Grob
87683aa790 Roboclaw: move parameters to module.yaml 2023-11-28 16:30:17 +01:00
Matthias Grob
8f4ce28e84 RoboClaw: declutter, make it compile again 2023-11-28 16:30:17 +01:00
Matthias Grob
5b4031356e RoboClaw: fix style 2023-11-28 16:30:17 +01:00
Per Frivik
9409646a89 Update RoverPositionControl.cpp 2023-11-28 16:30:17 +01:00
PerFrivik
a40120c332 Roboclaw: Integrated OutputModuleInterface including a large code refactor 2023-11-28 16:30:17 +01:00
PerFrivik
86e5561a64 Roboclaw: Fixed issue when power cylcing the roboclaw where the driver would not connect 2023-11-28 16:30:17 +01:00
PerFrivik
524fa73ad3 Roboclaw: rough refactor, removed repetitive code, simplified and clarified logic and error handeling 2023-11-28 16:30:17 +01:00
PerFrivik
dde7bbb4f6 Roboclaw: Initial cleanup, next commit will be refactor removing the duplicated write and read functions 2023-11-28 16:30:17 +01:00
PerFrivik
fe4d319ba9 Roboclaw: Replaced setDutyCycle with setMotorSpeed to allow for encoder data to get through (added support for encoders) 2023-11-28 16:30:17 +01:00
PerFrivik
c7e780cb6d Roboclaw: Working temporary version that drives around 2023-11-28 16:30:17 +01:00
PerFrivik
184993daa3 Roboclaw: Added DutyCycle command in Roboclaw destructor to turn off motors 2023-11-28 16:30:17 +01:00
Matthias Grob
a857df88e4 Driving possible 2023-11-28 16:30:17 +01:00
PerFrivik
ab486de430 Roboclaw: Temporary fix, enabling driver to run 2023-11-28 16:30:17 +01:00
PerFrivik
549c6b565c ported roboclaw driver from older commits into newest develop branch 2023-11-28 16:30:17 +01:00
Konrad
8a68a66203 figureEight: Rename relative position variable 2023-11-28 10:06:01 +01:00
Konrad
1e06ed2ed5 figureEight: Rework initialization 2023-11-28 10:06:01 +01:00
Konrad
a73409c015 FigureEight: Refactor initialization 2023-11-28 10:06:01 +01:00
Beniamino Pozzan
2363c03bfe [uxrce_dds_client] wait for Timesync to converge 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Beniamino Pozzan
f01400de81 [uxrce_dds_client] Fix debug string format - use PRId64 and llabs 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Daniel Agar
5af6cf1889
Update submodule GPS Drivers to latest Tue Nov 28 00:39:22 UTC 2023 
- GPS Drivers in PX4/Firmware (5ef3ae3f1ec5aecea5842306a63aec054eb599a9): 6e452c2c5b
    - GPS Drivers current upstream: 63990d218e
    - Changes: 6e452c2c5b...63990d218e

    63990d2 2023-11-22 Daniel Agar - nmea fix astyle whitespace

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-27 21:05:23 -05:00
PX4 BuildBot
dfbd5c88b1 Update submodule mavlink to latest Tue Nov 28 00:39:31 UTC 2023 
- mavlink in PX4/Firmware (b8870adb3e2002ee16ebf63bd23342a055ab8628): 70181c42fc
    - mavlink current upstream: 02f1575d73
    - Changes: 70181c42fc...02f1575d73

    02f1575d 2023-11-24 Hamish Willee - MAV_CMD_CONDITION_YAW - shortest direction v2 (#2058)
bc0d8611 2023-11-22 Roman Bapst - moved MAV_CMD_EXTERNAL_POSITION_ESTIMATE from ardupilotmega to common (#2057)
b85e0016 2023-11-22 Hamish Willee - development - delete MAV_CMD_SET_FENCE_BREACH_ACTION (#2053)
 2023-11-27 20:40:31 -05:00
Silvan Fuhrer
2734c44533 FlightTaskAuto: set state to None if prev and current sp are equal 
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-27 18:01:47 +01:00
Konrad
6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad
5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad
3ac7ed6afa mission_base: Do not reset mission on invalid mission upload 2023-11-24 08:11:41 +01:00
Konrad
a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Beat Küng
7afa011741 mavlink_mission: publish mission after updating dataman 
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
 2023-11-24 08:10:07 +01:00
Beat Küng
93cae5f9d7 mission: fix comparison logic for saving mission state 2023-11-24 08:10:07 +01:00
Matthias Grob
8271faedeb control_mode: reorder modes according to controller cascade 2023-11-23 20:35:48 +01:00
Matthias Grob
6e31638817 control_mode: add allocation to orbit mode to not crash 2023-11-23 20:35:48 +01:00
Silvan Fuhrer
a99a7d2abd vtol: always check for EKF2 resets, not just when QC is checked 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Silvan Fuhrer
eae939d86c vtol_type: transition altitude loss quad-chute: handle z resets 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Julian Oes
fbc95ff4bd Add I2C driver launcher 
This is just a first draft of the launcher part.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 22:19:52 -05:00
Beniamino Pozzan
742d237ae3 [uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint 
actuator_motors and actuator_servos subscribers for offboard control

Being subscribers, this does not increase the computational load
over the uxrce_dds brigde

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Beniamino Pozzan
1c8f31f339 [offboard] add thrust and torque control mode 
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Jacob Dahl
6cc38776c8
src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME (#22290) 
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
 2023-11-22 22:06:11 -05:00
Silvan Fuhrer
e280a6c6e6 Navigator: Geofence: always run geofence_breach_check(), not only only on pos update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
ade68aa563 Navigator: Geofence: stay in GF breached mode when in Loiter due to breach 
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f2aabe968e Geofence: add checks for custom GF validity when uploading it 
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
2865bbb8ab Geofence: rework messaging and notification 
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
3c194d552a Geofence: rework the way to check all GF at once 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
a41f24a2e2 geofence_result.msg: rename premove unused field home_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
b178c943a6 GeofenceBreachAvoidance: remove unused variables and methods 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
c0f26c8fbd mission_feasibility_checker.h: remove unused Geofence class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
563bfbf6e7 Geofence: remove GF_COUNT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
fd709e05b0 Geofence: remove GF_ALTMODE 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f3eacb4844 Geofence: fix status print 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f8f4ea2fee MissionFeasibilityCheck: rename checkGeofence to checkMissionAgainstGeofence() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Daniel Agar
56bfe41f10 drivers/ins/vectornav: publish estimator_status (only in VN_MODE 1) 2023-11-22 21:42:27 -05:00