* refactor(mixer_module): change MixingOutput to use float outputs
MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.
* fix(mixer_module): fix float safety issues
-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)
* refactor(mixer_module): float rounding suggestions
* fix(pwm_sim): fix inverted disarmed condition
* fix(mixer_module): more float rounding improvements
* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* SIH: explicitly use local velocity for all aerodynamic calculations
no functional change
* SIH: add param & vars for wind and apparent vel
no functional change
* SIH: replace all relevant vels with apparent vel
Only places where _v_E is remaining:
- ecefToNed to calculate _v_N
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
and _v_N:
- ecefToNed
- print_status
- publish_ground_truth
- generate_rover_ackermann_dynamics
- equations_of_motion
- parameters_updated, init_variables
which are all not relevant for aerodynamics.
* sih: wind review suggestions
* sih wind: switch direction to global wind source direction convention
* SIH: clean up variable declarations
* SIH: rename variables for consistency
* docs: SIH: document new wind parameters
* Release notes: note for SIH wind settings
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Protobuf-generated code in gz_msgs triggers -Wdouble-promotion warnings
from the Abseil library. Since this is external code we cannot modify,
disable the warning for this specific target.
Fixes#26533
* Changed GZMixingInterfaceESC to GZMixingInterfaceMotor
- GZMixingInterfaceMotor checks if there are more than 8 motors configured if its less than 8 it behaves exactly the same as GZMixingInterfaceESC, else it behaves as a PWM motor interface
- This change allows drones with more than 8 motors to be simulated by Gazebo
Fixes#25080
* code quality fix
* Changed GZMixingInterfacMotor back to GZMixingInterfaceESC and changed variable names to match ESC terminology
* formatting issue resolved
* updated interface to support 16 ESCs, allowing the first 8 to report telemetry
* rebased
* init: working towards dual-action ATMOS
* fix: update gz sim to latest
* fix: add motor number max fitting Actuator
* fix: revert non-necessary changes
* fix: ensure esc count does not exceed maximum number of ESCs
* fix: remove extra modules
* fix: sync submodules with remote
* fix: sync with main
- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* ekf2: allow manual position reset when horizontal aiding is active
This allows the pilot to override position esitmates manually
* mavlink sim: add support of failure gps struck
* mavlink sim: add GNSS failure "wrong" type
* ekf2-gnss: add reset mode
This allows the user to choose whether the position should immediately
be reset to GNSS on fusion timeout or if the EKF can continue with
velocity dead-reckoning.
* ekf2: fix unit test changes due to GNSS start logic
Especially because the EKF doesn't need to reset the states if the test
ratio is already passing
* rename mode enum
* reset to gps lat lon on init
* remove obsolete reset-condition (handled in #25223)
* WIP try to upgrade compiler externally
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
Co-authored-by: Niklas Hauser <niklas@auterion.com>
* rft: clean merge to PX4
* fix: formatting
* fix: extra line
* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle
* feat: updated gazebo models to include bluerov update
* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build
* fix: added saturation to thrust and torque messages via param
* doc: updated parameters documentation for uuv
* fix: formatting
* feat: matching hardware reference
* fix: thrusters kg
* rft: removed commented lines
* fix: update gz reference given hw setup
* fix: hardware references
* fix: recommendations
* fix: updated settings to match hardware
* rft: check only for fixed and rotary wing for high throttle
Co-authored-by: Daniel Agar <daniel@agar.ca>
* fix: commit oupsie
* fix: format
* rft: remove is_uuv
* fix: hw parameters, uuv build target for v6x
* feat: added support for D-pad attitude changes in stabilized position control
* fix: position setpoint update and parametrized trajectory age and att change
* fix: format
* fix: removed duplicated call to check_validity_setpoint
* fix: setpoint update on arming logic
* fix: setpoint initialization for stabilized mode
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* feat: spacecraft tooling for commander and VehicleStatus
* feat: spacecraft tooling for commander and VehicleStatus
* fix: format
* fix: format
* fix: remove iostream
* fix: remove iostream
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson)
feat: spacecraft tooling for commander and VehicleStatus
fix: format
fix: remove iostream
feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* feat: add orbiter to define
* fix: change mav_type to new spacecraft orbiter enum value
* fix: build issue
* feat: update mavlink
* feat: update mavlink to latest master with spacecraft
* feat: update mavlink
* feat: update mavlink to latest
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: removed unnecessary definition
* fix: format
* feat: cmake variant for spacecraft
* feat: proper mav_type and rc init
* fix: removed dart from build system
* add: thrusters to actuator type
* rft: reordering actuator type
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* fix: format
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: add orbiter to define
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: conflicts
* fix: format
* fix: remove duplicate entry
* rft: remove Kconfig changes
* rft: revert main Kconfig
* rft: revert main kcoonfig on platforms
* rft: remove changes to board PWm (go on another PR)
* rft: revert changes to commander (main is correct)
* fix: extra char on commander_helper
* rft: removed extra spaces
* rft: moved effectiveness to spacecraft
* fix: spacecraft effectiveness
* fix: extra space
* feat: preliminary version, still using thrusters
* rft: initial pipeline on PX4 side with rotors instead of thrusters
* feat: add atmos model
* feat: spacecraft with rotor pipeline tested, working
* feat: update gz
* rft: removed thruster interfaces
* fix: format
* fix: remove control allocation
* fix: thruster normalization
* fix: format
* fix: nuttx version
* fix: clang tidy error
* feat: updated gz to add atmos model
* fix: update gz
* fix: update mavlink
* fix: remove friend class from allocation lib
* fix: remove actuator_outputs/motors
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
Jacob Dahl