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18027 Commits

Author SHA1 Message Date
Ian Scholl
9db9c066c3 add GPS fix type check bit to EKF2 GPS checks 2025-07-14 16:28:20 +02:00
mahima-yoga
4896099232 dds: rate_limit /fmu/out/wind to 1Hz 2025-07-14 16:12:00 +02:00
mahima-yoga
fcbe017221 dds: add Wind topic to dds bridge 2025-07-14 16:12:00 +02:00
Silvan Fuhrer
b326714d7c FWModeManager: use always bearing to Takeoff waypoint (if defined) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-14 14:29:59 +02:00
Silvan Fuhrer
782e510105 Navigator: Takeoff mode: add state 2-state takeoff for fixed-wing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-14 14:29:59 +02:00
Silvan Fuhrer
e9e5c45bf3 FW mode manager/Commander: hanlde invlaid pos in FW manager 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-14 14:29:59 +02:00
Silvan Fuhrer
b1af09d391 FW mode manager: during takeoff only set height rate, not altitude setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-14 14:29:59 +02:00
Silvan Fuhrer
bdf1895145 Commander: on completion of takeoff, force state transition to Loiter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-07-14 14:29:59 +02:00
Jacob Dahl
ce4dfaf39a fix missing function update 2025-07-11 08:53:52 -06:00
Jacob Dahl
09ebd21e55 mixer: remove used flag stop_outputs 
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
 2025-07-11 08:53:52 -06:00
Beat Küng
9472b4b1f7 refactor: remove '#define MODULE_NAME' from tests 
And use target_compile_definitions() instead
 2025-07-11 10:39:28 +02:00
mahima-yoga
6daec07bbe fix: RTL during mission after a landing 
For delivery use-case, the mission contains a land item followed by other mission items. For the
section after the land, the current sequence number is greater than the land start index. If an RTL
is triggered, then isLanding returns true and the vehicle continues with the mission instead of
executing the RTL.

The land index marks the actual landing. So, is landing should only be true for the items between
land_start_index and land_index. If there are items after the land index, then they don't belong
to the landing anymore.
 2025-07-11 09:10:43 +02:00
Matthias Grob
a4115db669
FlightTaskOrbit: replace hardcoded 10m/s maximum speed with multicopter speed configuration (#25192) 2025-07-10 11:16:11 -08:00
mahima-yoga
fbddf9655b (fix) mavlink_mission: keep mission active when vehicle disarms mid-mission. 2025-07-10 15:17:26 +02:00
mahima-yoga
1e84c2de6b (fix) mavlink_mission: avoid double-checking MissionResult by using SubscriptionData 
code was checking for an updated MissionResult twice in a row, leading to _mission_state
not being set correctly when the second check had no new message.

Switched to SubscriptionData to safely retrieve the latest message using .get().
 2025-07-10 15:17:26 +02:00
chfriedrich98
e266d1f22f rover: remove deprecated module 2025-07-10 10:11:58 +02:00
Julian Oes
6855aa57c4
commander: publish full home attitude, not only yaw (#19717) 
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.

Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
 2025-07-09 14:43:31 -08:00
chfriedrich98
9a0b666deb rover: base setpoint generation on nav_state 2025-07-09 10:38:20 +02:00
chfriedrich98
90a4b4798d rover: expose rover messages to DDS 2025-07-09 08:58:13 +02:00
Jacob Dahl
6a8eea1df9
ekf: update parameter names for consistency (#25137) 2025-07-08 12:11:28 -06:00
Silvan
3f5b46a68c Commander: for VTOL_Takeoff only req relaxed position if fixed-wing phase 
When in the fixed-wing phase of the VTOL Takeoff we do not want to
failsafe due to position inaccuracy.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-08 15:04:44 +03:00
Stefano Colli
d79302c366
mavlink_parameters: throttle MAVLink param transmission on low-bandwidth links (#25126) 
* mavlink_parameters: throttle MAVLink param transmission if in low-bandwidth mode

* mavlink_parameters: simplify param transmission throttling

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-07-08 13:48:23 +02:00
Silvan Fuhrer
5a2b26f931
FW land detector: only force to landed if launch detection is STATE_WAITING_FOR_LAUNCH (#25167) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-07-07 16:09:15 +02:00
Marco Hauswirth
f7ffe27d4c
GNSS Spoofing Warning Sensitivity Adjustment (#25144) 2025-07-03 14:13:03 +02:00
Julian Oes
8870d16ae0 Move NUM_MISSION_ITEMS_SUPPORTED to dataman 
The define is used in dataman, not navigator, so this config variable
needs to be moved to the dataman module, otherwise it breaks the build
if navigator is not included in the build.
 2025-07-01 10:25:00 +12:00
Julian Oes
e46e4dc80e commander: prevent race condition after mission 
When a mission finishes with an RTL command, there's a race condition
between:
1. RTL command setting user_mode_intention RTL
2. Mission completion logic forcing LOITER

The auto-loiter transition was checking current nav_state (which is
still AUTO_MISSION) instead of any pending user_mode_intention,
causing it to override the RTL request.

Fix: Only auto-transition to loiter if no mode change is already
pending.
 2025-06-30 09:20:44 -07:00
mahima-yoga
8c5dcbea12 mission: add RTL to is_mission_item_reached_or_completed() 
This ensures that a mission is marked as completed when RTL is the last item or that the mission can continue if there is an intermediate RTL.
 2025-06-30 09:20:44 -07:00
Matthias Grob
daa491dc19 rc_update: make payload power switch an optional 3-way switch 
to support 3 different power states for the payload.
 2025-06-30 16:50:28 +02:00
Matthias Grob
1bccd5557a rc_update: add unit tests for two way payload power switch 
with the intention to extend it to an optional 3 way switch.
 2025-06-30 16:50:28 +02:00
Matthias Grob
8e7c2ed440 rc_update: allow payload power switch to be used for other boards than ARK FPV 2025-06-30 16:50:28 +02:00
Matthias Grob
64b92e46f8 rc_update: follow parameter member naming convention for payload power switch mapping 2025-06-30 16:50:28 +02:00
Matthias Grob
fc3fd43fc7 rc_update: specify 2 decimal places for all float threshold parameter metadata 2025-06-30 16:50:28 +02:00
Beniamino Pozzan
6f972bbd43
chore: unify MC_RATE* param metadata (#25133) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2025-06-29 13:56:06 -08:00
Jacob Dahl
95119027a9
ekf2: variable to parameter name consistency (#25042) 
Rename various EKF2 variable names to match the PX4 parameter names
 2025-06-24 09:15:50 +02:00
Beat Küng
afbaa71bfc
fix mavlink: add mutex for mavlink shell (#25082) 
There was a race condition when closing the shell:
- the main thread checks if _mavlink_shell is not nullptr (which is true)
- the receiver thread closes the shell, which clears _mavlink_shell
- the main thread continues with _mavlink_shell->available()
 2025-06-19 13:03:01 -08:00
Marco Hauswirth
6604c52c98
Commander: Adjust home position altitude after GNSS altitude correction (#25003) 
Within the first 2min of a flight, check if the integrated GNSS vertical velocity and the baro
measurements disagree with the reported GNSS altitude, and in that case update the 
set home position altitude to cancel out GNSS altitude drift.

* prevent re-init when reaching negative altitudes

* only allow correction during the first 120 second after takeoff

* add dependency to COM_HOME_EN parameter. reset vel-integral for multiple takeoffs
 2025-06-18 13:26:45 +02:00
chfriedrich98
f35b92a487 rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR 2025-06-18 08:35:48 +02:00
chfriedrich98
3e8f054a1c ackermann: rename DriveModes to AckermannDriveModes 2025-06-18 08:35:48 +02:00
chfriedrich98
eed966a1c6 rover: reduce speed based on course error 2025-06-18 08:35:48 +02:00
chfriedrich98
5a430f0ba6 rover: streamline rover steering setpoint 2025-06-18 08:35:48 +02:00
Hamish Willee
4a5c00d0e4
EKF2_GPS_POS_X/Y/Z have same long description (#25068) 2025-06-17 21:07:09 -08:00
Matthias Grob
d7ab21b8d6 Add battery_info message with serial number compatible with UAVCAN, MAVLink and drivers 
I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
 2025-06-17 09:05:22 +02:00
Qiaosen Liu
59710b15ae
params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout (#25062) 
* params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout

* Update src/modules/commander/commander_params.c

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-06-16 18:50:43 -08:00
Julian Oes
0180ad3a63 mavlink: implement extended MISSION_CURRENT 
The message MISSION_CURRENT got extensions regarding mission state in
https://github.com/mavlink/mavlink/pull/1869

This is an attempt to actually populate those fields.
 2025-06-17 13:37:47 +12:00
Silvan Fuhrer
e0663cd6ad
Sensor params: improve board rotation parameter description and meta data (#25037) 
* Sensor params: add @decimals and @min, @max to SENS_BOARD_ params

Signed-off-by: Silvan <silvan@auterion.com>

* Sensor params: Improve parameter description

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-06-16 14:59:03 -08:00
Silvan Fuhrer
a6863f0930
FW mode manager: open up / remove some arbitrary params constraints (#25036) 
* performance model: remove arbitrary min/max parameter constraints

Signed-off-by: Silvan <silvan@auterion.com>

* FW mode manager: open up/remove unnecessary param @max constraints

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
 2025-06-16 14:58:38 -08:00
QiTao Weng
75e4047f2a Fix ADSB heading angle obtained from driver by removing +pi. Adjusted downstream accordingly 2025-06-13 15:28:25 +02:00
Alexander Lerach
6f81998e27 hardfault: add option to stream via mavlink 2025-06-13 13:32:00 +02:00
Pedro Roque
6d15019717
feat: spacecraft tooling for commander and VehicleStatus (#24716) 
* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: remove iostream

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: update mavlink to latest

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format
 2025-06-12 21:48:48 +02:00
Matthias Grob
6b2b20bd6e imu_gyro_parameters: lower default angular acceleration filter from 30Hz to 20Hz 
to avoid noise getting into the derivative term of the PID rate control loop on integration flights.
 2025-06-12 17:15:12 +02:00