fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
43,785 Commits 852 Branches 161 Tags
Commit Graph

27102 Commits

Author SHA1 Message Date
Daniel Agar
4b25fad862 lib/timesync: relax warnings 
- double required max consecutive counts
 - don't continuously complain about round trip time (RTT) unless
   there's been at least one acceptable round trip (latency < 100 ms)
 2023-12-16 16:36:36 -05:00
Daniel Agar
dba2d76321
systemcmds/i2c_launcher: fix USER_I2C_LAUNCHER kconfig warning 2023-12-16 16:28:11 -05:00
Silvan Fuhrer
8be22f6c75 FW Position Controller: add missing @decimal 1 for FW_LND_THRTC_SC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-16 09:45:18 +01:00
oystub
24cee81279 gps_blending: output valid time_utc_usec 
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec

With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.

It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
 2023-12-13 11:14:00 -05:00
Niklas Hauser
c769fc7785 SF1xx: optionally disable sensor in forward flight 2023-12-13 09:02:26 +01:00
marcojob
cf62dad28d
sensors/VehicleAngularVelocity: fix force SensorSelectionUpdate 
- This fixes the force call on SensorSelectionUpdate
 - In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
 2023-12-12 20:56:59 -05:00
Kjersti Brynestad
91e3ec5884 mavlink: Handle NAMED_VALUE_INT 2023-12-12 20:50:46 -05:00
GuillaumeLaine
942b6700a1 dds_topics: export estimator_status_flags 2023-12-12 14:43:07 -05:00
Silvan Fuhrer
91ab09ebd5 TECS: in _calcPitchControlOutput guard against invalid airspeed inputs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer
9db86f7f0a TECS: fix airspeed filter init in airspeed-less mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer
60e2c6a5cb TECS: improve initialization 
-remove external init, and instead always (but only) init when dt is too large
-init the controller params correctly

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer
1f5fc3e849 TECS: init control params to reasonable values 
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer
7926107328 TECS: make sure to constrain pitch to current min/max pitch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer
cc743048ba TECS: set _ratio_underspeed to 0 if airspeed disabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Matthias Grob
ece60b6165 msp_osd: reuse existing mode name conversion 
This saves a bit of flash, keeps the mode names up to date and
works like expected.
 2023-12-11 17:29:45 +01:00
Silvan Fuhrer
8aab3e8013
Navigator: same logic for VTOL_TAKEOFF as for TAKEOFF (#22518) 
Set the setpoint type to POSITION if already in air, not to TAKEOFF.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-11 14:18:22 +01:00
Matthias Grob
ebae9ae3d7 FlightTaskManualAccelerationSlow: MC_ prefix for parameter names 
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
 2023-12-08 21:17:59 +01:00
Matthias Grob
d03030e881 mavlink_receiver: ifdef guard for velocity limits 
Since this message is defined in development.xml and
not yet common.xml and some targets use
common.xml and the builds then failed.
 2023-12-08 21:17:59 +01:00
Matthias Grob
ca6db94e39 Velocity limit: remove duplicate message and if(true) 2023-12-08 21:17:59 +01:00
Matthias Grob
da24811ce1 SickAccelerationXY: fix comment typo brak{e}ing 2023-12-08 21:17:59 +01:00
Marcin
4cf43a68a3 FlightTask: add subscription to VELOCITY_LIMITS msg 2023-12-08 21:17:59 +01:00
Matthias Grob
54ce9813c8 FlightModeManager: Add task for position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob
ef0926d64b Commander: add position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob
dbbf585adb StickYaw: yaw rate limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob
84220407ea FlightTaskManualAltitude: vertical velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob
bb617f6c4d FlightTaskManualAcceleration: horizontal velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob
77c06a9f9e Sticks: Provide auxiliary analog values from manual_control_setpoint 2023-12-08 21:17:59 +01:00
Matthias Grob
df41bc3d26 StickAccelerationXY: make sure speeds below 1m/s are exactly reached 
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
 2023-12-08 21:17:59 +01:00
Daniel Agar
f703f07399
drivers/distance_sensor: update kconfig common sensors 
- mappydot is EOL
 - LL40LS_PWM is a fairly special case that's not common
 2023-12-08 13:32:23 -05:00
Matthias Grob
e35380d6ae mixer_module_tests: cover output_limit_calc_single() 2023-12-07 21:35:55 -05:00
Matthias Grob
0a78690356 mixer_module: correct output_limit_calc_single calculation 2023-12-07 21:35:55 -05:00
PX4 BuildBot
fb3123e33b Update world_magnetic_model to latest Thu Dec 7 11:14:08 UTC 2023 2023-12-07 21:34:18 -05:00
PX4 BuildBot
db1bb94ea4 Update submodule mavlink to latest Thu Dec 7 12:39:06 UTC 2023 
- mavlink in PX4/Firmware (67cf6bd264055a5d13d5521c6c43bd5b42f374ca): 6cf005e996
    - mavlink current upstream: 5f85bd7d7d
    - Changes: 6cf005e996...5f85bd7d7d

    5f85bd7d 2023-12-07 Hamish Willee - MAV_CMD_DO_SET_HOME - add home position roll/pitch (#1849)
55ba3887 2023-12-06 Hamish Willee - Fixed deprecation typo for MAV_CMD_SET_MESSAGE_INTERVAL (#2060)
 2023-12-07 17:56:13 -05:00
PX4 BuildBot
3d1ce20c12 boards: update all NuttX defconfigs 2023-12-07 17:55:38 -05:00
Silvan Fuhrer
c61ac784b6 FW attitude controller: remove deprecated ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
b1317daa9c wheel controller remove from ecl 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
00f5bba5e0 FW att controller: wheel controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
448292c980 FW att controller: yaw controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
d4206195c6 FW att controller: pitch controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
7e467f7121 FW att controller: roll controller: seperate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer
48782723ab FW att controller: ecl_controller: move setter/getter implementation to header 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Matthias Grob
14c4257a59 ActuatorEffectivenessRotors: Use modern parameter interface for rotor count 
This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
 2023-12-05 12:06:56 -05:00
bresch
5ca22df55c ekf2-pos bias estimator: use enum 2023-12-05 11:22:59 -05:00
bresch
a3515a2474 ekf2: scope HeightSensor enum 2023-12-05 11:22:59 -05:00
bresch
6bd1145006 ekf2: scope RngCtrl enum 2023-12-05 11:22:59 -05:00
bresch
1df52df27d ekf2: scope GnssCtrl enum 2023-12-05 11:22:59 -05:00
bresch
97423136d1 ekf2-AGP: scope control enum 2023-12-05 11:22:59 -05:00
Beat Küng
c5101c70b3 uorb: enure message definitions don't exceed buffer lengths & increase test buffer 
There were already checks at runtime, but this ensures the format is not
too long at built-time.
 2023-12-05 10:42:23 +01:00
Konrad
df46ad7774 Dcm2: Use std::sin with overloaded types 2023-12-05 10:42:23 +01:00
Konrad
d1b8a2e8d5 fxedwingPositionControl: Add slew rate at the end for all mode instead inside each 2023-12-05 10:42:23 +01:00