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27102 Commits

Author SHA1 Message Date
Silvan Fuhrer
a52c0fd9f5 FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
1c7320b9e3 VTOL: params: add missing @decimal and @increment 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
ac811450e5 Tiltrotor params: set default for VT_TILT_TRANS to 0.4 
0.4 tilt is more reasobale to get nice transitions than
the previous 0.3.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
8f64c79b4c FWAttitudeController: params: increases parameter ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
459f9c5331 Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50% 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
ad778b37f5 FWRateController: fix @group, all should be in FW Rate Control group 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
f41ad10275 FW Rate Controller: relax param ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer
a1167d6c98
Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item (#21641) 
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:21:23 +02:00
Eric Katzfey
d2011e99b2
commander: add Open Drone ID arming check (#21652) 2023-06-01 07:52:52 +02:00
Silvan Fuhrer
4b5e14aeec
Navigator: MissionFeasibilityCheck: check if items fit to the current vehicle type (#21602) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-31 19:27:27 +02:00
Roman Bapst
d6413a6a90
Refactor uncommanded descend Quad-Chute (#21598) 
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)

* disabled altitude loss quadchute by default

* altitude loss quadchute: added protection against invalid local z


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-05-31 17:57:50 +02:00
henrykotze
fab58ee2bc cannode prearm by default enable on ArmingStatus 
- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed

- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
 2023-05-31 11:20:31 -04:00
Beat Küng
db18a94382 refactor param: reduce flash usage 
Reduces usage by ~1.5KB
 2023-05-31 07:45:20 +02:00
Beat Küng
1bfca24fa9 refactor param: move autosave to px4::wq_configurations::lp_default work queue 
Changes initialization order as param_init now depends on wq manager
 2023-05-31 07:45:20 +02:00
Thomas Debrunner
f0dd9fa445 param: Add contained-params-bitset export interface to the param layers 
Allows for efficient looping over the contained data
 2023-05-31 07:45:20 +02:00
Thomas Debrunner
bc872822bc params: Overhaul param system to use a layered approach without locking 
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
  concurrently and we rely on the fact that another export will be
  triggered in that case.
 2023-05-31 07:45:20 +02:00
JaeyoungLim
e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar
6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer
bd182ecf70
FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer
ad769db8d6
FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Alex Klimaj
ee96d209d7
drivers/uavcannode: add GNSS Auxiliary publisher 2023-05-24 21:27:50 -04:00
Loïc Dubois
1b9d90e7c4
mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj
dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob
c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob
7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Matthias Grob
7d0596d244 RCInput: follow topic name convention 2023-05-23 17:24:17 +02:00
Patrick José Pereira
8feb662557 systemcmds: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira
09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira
5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira
837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira
ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira
cee21bd703 sensor_calibration: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
PX4 BuildBot
74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): 3ee5382d0c
    - mavlink current upstream: 18955a04c7
    - Changes: 3ee5382d0c...18955a04c7

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
PX4 BuildBot
6c9dcd535c Update submodule devices to latest Fri May 19 12:38:42 UTC 2023 
- devices in PX4/Firmware (6a645f244654695f3b178b576f7f8972f87ad774): 7d19f689f0
    - devices current upstream: 99f5960eca
    - Changes: 7d19f689f0...99f5960eca

    99f5960 2023-05-02 Eric Katzfey - sbf: fixed compile errors for Qurt platform (#129)
 2023-05-19 08:41:21 -06:00
Peter van der Perk
9a17fddc31 Hardfault_log progmem always clear when re-arming 2023-05-19 08:40:07 -06:00
Silvan Fuhrer
599a66c8a5 Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch 
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-16 10:12:24 +02:00
Silvan Fuhrer
1ddacec36b FW Att/Rate controller: move max attitude params to Att Controller params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 14:35:34 +02:00
Silvan Fuhrer
bf25d8b180 FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:54:11 +02:00
Silvan Fuhrer
77d09785f3 TECS: init _velocity_control_traj_generator properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:53:32 +02:00
bresch
616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-05-12 13:42:09 +02:00
Silvan Fuhrer
f19b81880f VTOL: adapt VT_QC_T_ALT_LOSS param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer
06713cb655 VTOL: only run front transition alt loss QC if altitude is controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer
c1d94c7f05 VTOL: extend front transition QC to first 5s after completing transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer
0d156f84e6 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer
233d901934 VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
JaeyoungLim
47e802ef92
Fix tailsitter control frames (#21573) 2023-05-10 22:33:53 +09:00
Silvan Fuhrer
951f89c8a8 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer
ab71ef4447
FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar
8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Morten Fyhn Amundsen
04c5d70588 matrix: Describe emult, edivide functions 2023-05-09 16:14:55 +02:00