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Author SHA1 Message Date
Matthias Grob 9a7a977625 mavlink_receiver: put all message handling in the same function 2024-06-05 16:13:52 +02:00
Matthias Grob daa89ba30a Jankinsfile-compile: add missing comma after ark_pi6x_default 2024-05-29 15:42:41 +02:00
Matthias Grob d1db0addf9 CameraFeedback: shorten line length such that documentation parser works 
This broke in 4f64acb352 and was also flagged by CI in the pr and since then.
 2024-05-29 11:24:53 +02:00
Matthias Grob dfee9ca4c6 MAVLink: remove never used _mavlink_link_termination_allowed 2024-05-28 10:41:00 +02:00
Matthias Grob b87c5285e2 battery: weigh voltage based estimate more when it's low 
This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set wrong.

The disadvantage is that the state of charge estimate will
fluctuate more under load.

We need better documentation and improvements to the estimation.
 2024-04-02 19:22:28 +02:00
Matthias Grob 8579175013 Build new IO firmware binaries 2024-04-02 11:59:56 -04:00
Matthias Grob ef5569fab3 px4iofirmware: reuse existing disarmed logic for lockdown and should_always_enable_pwm 
The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
 2024-04-02 11:59:56 -04:00
Matthias Grob b714b5461b px4iofirmware: simplify lockdown logic 2024-04-02 11:59:56 -04:00
Matthias Grob 7f0ec2305c px4iofirmware: refactor to only have one PWM output code path 
This removes the duplication with unexpected differences
and allows to consistently handle the output instead of
overriding the output for some specific cases which
leads to unexpected corner cases. E.g. disabled outputs
suddenly outputing PWM in lockdown.
 2024-04-02 11:59:56 -04:00
Matthias Grob ab1087906d px4io: remove special handling for HITL 
In HITL the actuators should not be mapped
and they are in lockdown.

We should not reconfigure disarmed, min, max PWM values
without updating the actual output values because the IO
will consider the last outputs before the FMU was rebooted
with the configuration of the new boot. This can result
in spinning motors when switching to SIH.
 2024-04-02 11:59:56 -04:00
Matthias Grob 416b6a35a4 failsafe framework: inform about failsafe action 2024-03-27 20:22:04 +01:00
Matthias Grob 6e86862b6a boards: unify comments for voltage deviders 2024-03-27 17:15:39 +01:00
Matthias Grob 4c5f084445 Battery parameters: clarify empty, full voltage description 2024-03-27 17:15:39 +01:00
Matthias Grob b5f6699f2e mixer_module: send a last sample out after all outputs were disabled 
This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
 2024-03-25 19:21:54 +01:00
Matthias Grob 1096384a38 px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs 
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
 2024-03-25 19:21:54 +01:00
Matthias Grob 999a71c4dd px4io: don't output on disabled PWM pins 
Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp
 2024-03-25 19:21:54 +01:00
Matthias Grob 1bd65f8beb mantis-edu: remove duplicate RC define 2024-03-04 13:30:28 -05:00
Matthias Grob 2491548a0f Jenkinsfile: correct typo, missing comma 
Introduced in
2c81c9fdea
 2024-02-27 13:32:46 +01:00
Matthias Grob 4e3bd4f196 MAVSDK tests: shorten Position, Altitude control flights 
We get more than 5 meter away much quicker.
 2024-02-22 15:29:13 +01:00
Matthias Grob 0cc4b41a51 MAVSDK test: Fix fly_forward_in_altctl() timing 2024-02-22 15:29:13 +01:00
Matthias Grob f602228048 MAVSDK test: increase offboard position threshold 
This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
 2024-02-22 15:29:13 +01:00
Matthias Grob 51fe4351c6 StickTiltXY: Fix too high maximum tilt problem 
And add unit tests.
 2024-02-20 14:27:49 +01:00
Matthias Grob 84a7d42566 rover build: correct differential drive kconfig name 2024-02-15 10:08:51 -05:00
Matthias Grob f26df8492f Update GPS drivers to contain the astyle fix 2024-02-15 15:23:06 +01:00
Matthias Grob cb03835124 RTL: use dest.yaw instead of a separate heading_sp 2024-02-13 10:34:57 +01:00
Matthias Grob 1998f54ea6 DifferentialDrive: move spoolup consideration to the main module 2024-02-12 14:29:10 +01:00
Matthias Grob 396ef222ee DifferentialDrive: Rework structure 
3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
 2024-02-12 14:29:10 +01:00
Matthias Grob f85144ca76 DifferentialDrive: remove trailing zeros from prameter metadata 2024-02-12 14:29:10 +01:00
Matthias Grob b54b4f7dce Rename module differential_drive_control -> differential_drive 2024-02-12 14:29:10 +01:00
Matthias Grob fc90e235f1 Rename differential drive setpoint topics 2024-02-12 14:29:10 +01:00
Matthias Grob f7baeae1a0 DifferentialDriveControl: only save required parts of uORB message 2024-02-12 14:29:10 +01:00
Matthias Grob b355c16141 Lanbao driver: correct rangefinder type to IR 2024-02-09 06:19:12 +01:00
Matthias Grob 7fdb5ef3cb PWMOut/px4io: correct automatic servo/motor configuration messages 2024-02-09 06:19:12 +01:00
Matthias Grob 97cb933cff FLightTaskAuto: limit nudging speed based on distance sensor 2024-02-07 11:23:55 +01:00
Matthias Grob 3e183feb49 matrix: Slice templated on const and non-const matrix cases 
to avoid casting const to non-const with
`const_cast<Matrix<Type, M, N>*>(data)`
 2024-01-30 11:46:33 -05:00
Matthias Grob 88102d82db matrix: return value simplifications 2024-01-30 11:46:33 -05:00
Matthias Grob 44a8c553fb AxisAngle use Vector3<T> instead of Vector<T, 3> 2024-01-30 11:46:33 -05:00
Matthias Grob ea4fdfd637 matrix: fix internal include chain 2024-01-30 11:46:33 -05:00
Matthias Grob 9156c5c065 ROMFS: remove single trailing zeros 2024-01-09 10:27:39 +01:00
Matthias Grob b70b19b7eb ROMFS: keep consistent quad X geometry but in each airframe separately 2024-01-09 10:27:39 +01:00
Matthias Grob 09fa712d37 ROMFS: remove trailing zeroes 2024-01-09 10:27:39 +01:00
Matthias Grob 40f2fc4e77 ROMFS: remove duplicate uuv configuration 2024-01-09 10:27:39 +01:00
Matthias Grob 4b86e174a3 ROMFS: Fix quad + geometry 2024-01-09 10:27:39 +01:00
Matthias Grob d872ef87da differential_drive_control: don't build by default 
also add dependency on control allocation parameter CA_R_REV
 2023-12-21 16:27:53 +01:00
Matthias Grob 3de5c609a4 Differential Rover: PR fixes 2023-12-21 16:27:53 +01:00
Matthias Grob bcb2b1ad40 matrix: fix slice to slice assignment to do deep copy 
To fix usage of a.xy() = b.xy() which should copy
the first two elements over into a and not act on a copy of a.
 2023-12-21 11:42:08 +01:00
Matthias Grob 8da106df6a px_process_events: fix no base path being a list 
This make `make extract_events` fail in CI that only runs on the
main branch and hence I wasn't aware of.
 2023-12-19 10:04:02 +01:00
Matthias GrobandBeat Küng 6ffc5a9eae events: pass relative paths plus base path to source parser script (#22551) 
* events: pass relative paths plus base path to source parser script

to work around maximum Makefile command lenght limits.

* events: correct cmake comment typo

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

---------

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2023-12-18 09:33:53 +01:00
Matthias Grob 75bb25a44c test_vtol_figure_eight: fix altitude check 
wait_until_altitude() checks for absolute altitude being
close so checking for 1m below the setpoint can fail
if the speedup results in no sample inside the altitude
window being checked.

Ideally the test could check if the takeoff is done directly
instead of comparing altitudes in the first place.
 2023-12-12 20:22:23 +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
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
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
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
Matthias Grob d259386987 arch: python requirements fix, jdk comes with ant 2023-12-05 12:06:56 -05:00
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
Matthias Grob b71c6fb6ea arch: update to use pacman's arm-none-eabi 
which is currently GCC 12.2
 2023-12-05 12:06:56 -05:00
Matthias Grob adb22f1407 spi: put brackets such that GCC12 considers it a pointer for sure 
otherwise you get the warning/error px4_spi_buses can never be NULL
 2023-12-05 12:06:56 -05:00
Matthias Grob 0c97b0f4b0 ubuntu: usermod -aG instead of -a -G 
It's well documented everywhere that this command does and
it's commonly used with exactly these two parameters together
and in that order.
 2023-12-05 12:06:56 -05:00
Matthias Grob 1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00
Matthias Grob 4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
Matthias Grob d8d2213cab mavlink streams: add SYSTEM_TIME to onboard low bandwidth 
It's required with 2Hz by some MAVLink enabled payloads.
 2023-12-01 11:02:37 -05:00
Matthias Grob 9184a8f4ef mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth 2023-12-01 11:02:37 -05:00
Matthias Grob 3ceb932b7c mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth 
There are MAVLink enabled gimbals that directly consume RC channel data.
The gimbal controls stutter with this profile when the rate is too low.
 2023-12-01 11:02:37 -05:00
Matthias Grob 938be68c69 mavlink streams: add gimbal orientation feedback to normal stream 
It only publishes when the information is available on uORB
and is useful for the groundstation to show the gimbal's status.
 2023-12-01 11:02:37 -05:00
Matthias Grob d85aaf4dfd v5x/v6x: save flash by not compiling analog OSD by default 2023-11-30 17:16:02 +01:00
Matthias Grob 82c422b818 fmu-v5x: don't build roboclaw driver by default 
it's not used that often and for rovers only.
 2023-11-30 17:16:02 +01:00
Matthias Grob 8bb20db7da GotoControl: Save flash 2023-11-30 17:16:02 +01:00
Matthias Grob 7b4712cb29 sensor_simulator: initialize VelocitySmoothing with desired limits 2023-11-30 17:16:02 +01:00
Matthias Grob d014d76ca7 HeadingSmoothing: set correct maximum heading 
The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
 2023-11-30 17:16:02 +01:00
Matthias Grob 5a2efc1cb2 GotoControl: remove dependency on PositionControl 
It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
 2023-11-30 17:16:02 +01:00
Matthias Grob c853acc2ff GotoControl: also provide maximum velocity to position smoother 2023-11-30 17:16:02 +01:00
Matthias Grob d1e8bdbd16 GotoControl: rename yaw rate acceleration parameter 
such that not only one letter differs to MPC_YAWRAUTO_MAX
 2023-11-30 17:16:02 +01:00
Matthias Grob dc7f9165d1 logged_topics: fix goto_setpoint name 2023-11-30 17:16:02 +01:00
Matthias Grob 3de6fee07f GotoControl: make interface over uORB 2023-11-30 17:16:02 +01:00
Matthias Grob 96a81c22e3 GotoControl: simplify configuration wrapping 2023-11-30 17:16:02 +01:00
Matthias Grob 439d6c61e0 Revise GotoControl 2023-11-30 17:16:02 +01:00
Matthias Grob 14b8afe972 PositionSmoothingTest: remove duplicate vector comparison 2023-11-30 17:16:02 +01:00
Matthias Grob 591845bb41 HeadingSmoothing: rename, simplify, add cpp 2023-11-30 17:16:02 +01:00
Matthias Grob be05b3e8d7 helper_functions: include defines for M_PI_PRECISE 
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
 2023-11-30 17:16:02 +01:00
Matthias Grob efb325d25d motion_planning: remove deprecated separate test 
It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
 2023-11-30 17:16:02 +01:00
Matthias Grob 53076b9863 PositionSmoothing: guard division by zero 
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
 2023-11-30 17:16:02 +01:00
Matthias Grob 11cca72ef1 VelocitySmoothing: fix division by zero cases 
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.

Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
 2023-11-30 17:16:02 +01:00
Matthias Grob 6f295d91d1 Revert "motion_planning: sanitize inputs to position and velocity smoothing libs" 
This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
 2023-11-30 17:16:02 +01:00
Matthias Grob 14785eeb47 GotoSetpoint message: reorder flag directly before value 2023-11-30 17:16:02 +01:00
Matthias Grob f53edfa440 Roboclaw: major cleanup 2023-11-28 16:30:17 +01:00
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
Matthias Grob a857df88e4 Driving possible 2023-11-28 16:30:17 +01:00