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27102 Commits

Author SHA1 Message Date
Daniel Agar
264a99fb77
ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism 
- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
 2023-02-03 09:52:24 -05:00
Daniel Agar
f668ea5aa6 ekf2: RingBuffer add reset method 2023-02-03 08:49:44 -05:00
Daniel Agar
e3d73cd837 ekf2: mag control reset mag_lpf on first sample 2023-02-02 16:12:09 -05:00
ShiauweiZhao
35080504f7
drivers/drv_sensor.h fix device type duplicate definition 2023-02-02 09:54:47 -05:00
Hamish Willee
2938db1c60 Apply suggestions from code review 2023-02-02 15:20:34 +01:00
Hamish Willee
7cea384404 Update src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c 2023-02-02 15:20:34 +01:00
Hamish Willee
d65e5969e1 FW_AT_MAN_AUX - define what an Aux input is 2023-02-02 15:20:34 +01:00
Silvan Fuhrer
ba1d02ee75 MPC: improve description of MPC_LAND_RC_HELP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-02 14:31:22 +01:00
Silvan Fuhrer
d9a4d1d5c4 Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks 
Check fails if airspeed reading is above FW_AIRSPD_MAX.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 20:43:38 -05:00
Silvan Fuhrer
32cab66c44 Commander: hide hint to param in low position accuracy event for end users 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer
9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer
3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer
cbc4c35bcf Commander params: improve meta data for max flight time and wind 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Silvan Fuhrer
6d84da5cf1 Commander: add max flight time warning (starting at 90%) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Beat Küng
b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Beat Küng
a8628c9d9c fix commander: clear takeoff_time only on disarm 
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
 2023-02-01 08:48:09 +01:00
Beat Küng
8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng
7988491e37 failsafe simulator: improve spacing for multi-line checkboxes 
Reduces line-height to 100% in that case.
 2023-02-01 08:48:09 +01:00
ShiauweiZhao
931f602995
drivers/imu/invensense: new IAM-20680HP IMU driver (#21025) 2023-01-31 09:33:26 -05:00
Julian Oes
b1fc0ca0d0 mavlink: always forward messages to/from USB 
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.

With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes
0446292c75 mavlink: always use public method 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes
7b8cf4913e mavlink: show forwarding status 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Daniel Agar
47215bb625 lib/wind_estimator: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Daniel Agar
efe1d43550 ekf2: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Hamish Willee
f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
Daniel Agar
8da993c30e
Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-28 11:41:03 -05:00
Roman Bapst
4646762f9d Use multiplication instead of division 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
0c735dea2e AirspeedSelector: use scientific notation for small param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
d32f400851 WindEstimator: use isAllFinite() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
a6d14796e4 WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
15335b194a WindEstimator: use state indexing enum consistently 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
PX4 BuildBot
21ddb04856 Update submodule mavlink to latest Sat Jan 28 00:39:00 UTC 2023 
- mavlink in PX4/Firmware (fa65292bb7542cb1f2a4cdaac10738fa17777a6d): 74dee05f0c
    - mavlink current upstream: e3b8756e37
    - Changes: 74dee05f0c...e3b8756e37

    e3b8756e 2023-01-25 olliw42 - update storm32.xml (#1941)
 2023-01-27 21:14:07 -05:00
Silvan Fuhrer
48f2b42e12 FWPositionController: remove factor of 2 for switching to LOITER if altitude is not reached 
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-27 16:51:30 +03:00
Eric Katzfey
e862fde084
ver: use PX4_INFO_RAW and add vendor version (#21008) 2023-01-27 07:13:37 +01:00
Silvan Fuhrer
88ec117e59 TECS: rename tecs_status.altitude_filtered to altitude_sp_ref 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer
5099a91f87 TECS: keep _pitch_integ_state in radians 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer
e16f98c2b6 FW Position controller: remove unused climbout arguments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Eric Katzfey
aae431e4d5
Removed unused variables in LED driver that were causing fatal build errors on Qurt platform (#21007) 2023-01-25 16:35:56 -08:00
Silvan Fuhrer
a210c96aa9 Commander: ssimplify error messages for LOITER rejection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +01:00
Silvan Fuhrer
148ffe4e25 add support for DO_CHANGE_ALTITUDE 
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +01:00
KonradRudin
d3b7112dd9
[TECS]: If in airspeedless mode, add the throttle integrator term to the throttle setpoint, if the integrator term is positive. This should avoid reducing airspeed when switching to airspeedless mode. (#20987) 2023-01-25 09:16:11 +01:00
modaltb
20b7a8c9f6
drivers/actuators/modalai_esc --> modal_io and rename UART_ESC prefix to MODAL_IO (#20995) 2023-01-24 20:24:58 -05:00
Benjamin Perseghetti
60de5b3ea4
simulation/gz_bridge: remove proceeding px4_ from servos in gazebo model (#20998) 
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 19:56:11 -05:00
Benjamin Perseghetti
684b4a4b8a
simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989) 
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-01-24 19:01:45 -05:00
Daniel Agar
64c2ec5eea
simulation/gz_bridge: remove cmake CONFIGURE_DEPENDS 
- PX4 build system simulation targets are optional and no longer
strictly required
 2023-01-24 13:58:30 -05:00
Daniel Agar
9cb6de8010
simulation: relax jmavsim java requirements (finding vecmath.jar) 2023-01-24 13:56:24 -05:00
Daniel Agar
3b543c7700
mavlink: serialize mavlink generation to prevent broken output 
- let uAvionix generation fully complete before generating CONFIG_MAVLINK_DIALECT
 2023-01-24 13:49:28 -05:00
JaeyoungLim
644aeb9153
support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) 
* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 09:22:53 -05:00
Jiangxuan Chen
c31867f104
support for KakuteH7v2, KakuteH7mini, and BMI270 IMU driver (#20545) 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-22 19:41:39 -05:00
Daniel Agar
7c9dcd1985
drivers/uavcan: silence noisy libuavcan cmake version deprecation warning for now 
- keep drivers/uavcannode cmake in sync with drivers/uavcan
 2023-01-22 14:48:43 -05:00