A gimbal user needs to be able to receive gimbal device messages such as
GIMBAL_DEVICE_INFORMATION. Therefore, we need to forward this MAVLink
instance.
The simulated attitude can disturb the gimbal estimator and lead to strange behavior of the gimbal. So, since the hardware is not moving in HIL/SIH, we fake a static attitude towards the gimbal.
* RTL Direct: fix rlt time prediction in final lanidng phase
It was previously checking if RTL was already running through
active(), which though actually is coming from the mission mode
that rtl_direct inherits from.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary active() check
As the method setRtlPosition() is anyway not called when RTL is active,
plus it checks the wrong thing, as it is the active() method from
the Mission mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary land_detector_sub.update()
It is already getting updated just before the .get()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL time estiate: do not distinguish land from sink for MC
To avoid rtl time prediction jump when entering LAND phase due
to no correct handling of loiter altitude (LAND phase doesn't
have to start only when lower then RTL_DESCND_ALT).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Revert "RTL Direct: remove unnecessary active() check"
This reverts commit d5165ba902e65839e792cc13197761c7f77748f9.
* Revert "RTL Direct: fix rlt time prediction in final lanidng phase"
This reverts commit 5af7c928fbf86d560dcd35dd9aea3e38f1e4c735.
* RTL: Make sure to call the initialilze function of the Navigator RTL modes
* RTL: use the navigator_mode run function instead of the on_xxx function directly
* RTL: Make sure that for vtol the right vehicle type is used for each RTL state
* RTL: move to loiter distance estimate should substract the loiter radius for fixed wing
* RTL: time prediction: do not assume VTOL is in FW at start of RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: fix is_in_climbing_submode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: subtract loiter radius from distance in rtl_direct_mission_land
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL direct: poll important topics also on_inactive such that time estimate is correct
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* navigator rtl: fix setter spacing
* navigator rtl: check pointer before dereferencing
* RTL: only subract loiter radius when in FW
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Konrad <konrad@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* boards: change board ID of KakuteH7 mini
Holybro would like to consolidate the board ID to what is used in
ArduPilot.
* boards: update KakuteH7mini bootloader
This is due to the board ID change.
- fully absorb the libuavcan submodule (renamed libdronecan to deconflict) up to our last good working commit and preserve all history (upstream libuavcan was broken and then marked deprecated)
- fixes https://github.com/PX4/PX4-Autopilot/issues/23727
- this puts us in a much better position to be able to evolve the library going forward ow that we have full control in tree
When the px_uploader.py is used scripted, so without an interactive
shell, the progress bar doesn't update. Therefore, I suggest to print a
new line instead of a carriage return for the non-interactive shell
case.
* AUTOPILOT.capabilities includes gimbal manager protocol bit
Sets MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER bit in AUTOPILOT.capabilities
* mavlink: update submodule
* mavlink: only set gimbal flag if gimbal param set
We should probably only set the flag if the gimbal manager is actually
set up using the MNT_MODE_IN parameter.
* mavlink: make param optional
If the gimbal module is not built in we don't have the MNT_MODE_IN
param, so we need to deal with that.
* gazebo-classic: update submodule
---------
Co-authored-by: Julian Oes <julian@oes.ch>
- upstream libuavcan was broken and then marked deprecated, this fully absorbs the submodule (renamed libdronecan to deconflict) up to our last good working commit and all commit history is kept
- fixes https://github.com/PX4/PX4-Autopilot/issues/23727 (regression introduced in #23113)
- this puts us in a much better position to evolve the library as needed now that we have full control
The bootloader can often get stuck parsing random MAVLink traffic,
thinking it had seen a GET_SYNC.
Therefore, this commits adds a two step check which requires a GET_SYNC
followed by a GET_DEVICE to make sure it's really an uploader script
talking to it, and not just random data.
This fixes the SITL tests that fail in CI because we catch NAN as non
zero after cast to int. To fix this I've added the check whether they
are finite at all.
The checks for param5 and param6 would be a bit trickier because they
can be int or float, so I have omitted them for now.
Now that ubuntu-latest has been pushed to Ubuntu 24.04, we need to fix
up the pip install.
While at it, we might as well pin to the ubuntu 24.04 version, so we
don't have this happen to use out of the blue again.
