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Author SHA1 Message Date
bresch
9ebfed010f mag_cal: increase uncertainty of calibration parameters 
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
 2023-07-11 11:33:53 -04:00
bresch
9e2e888f5e ekf2-bias_cal: reduce required stability period 
For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
 2023-07-11 11:33:53 -04:00
bresch
2f52926972 mag_cal: fix mag bias estimate to mag cal 
- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
 2023-07-11 11:33:53 -04:00
alexklimaj
69aa8689c0 Revert "rover_pos_control: thrust normalization for joystick input (#20885)" 
This reverts commit 22f7d913bd1f6f9c0500d22435d9148bc5e0fab5.
 2023-07-11 08:25:50 -07:00
bresch
f5edff2647 ekf2 - preflt checks: scale flow innovation checks 
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
 2023-07-11 08:18:32 -07:00
bresch
672b29d555 ekf2: report dist bottom also when using flow for terrain 
Terrain height can be estimated using a range finder and/or optical flow
 2023-07-11 08:18:32 -07:00
alexklimaj
03528a6200 Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground 2023-07-11 08:18:06 -07:00
alexklimaj
bca0be47bc Apply code review changes from @dagar 2023-07-11 08:18:06 -07:00
Eric Katzfey
9511248514 Removed the huge HAGL fuse timeout increase 2023-07-11 08:18:06 -07:00
Eric Katzfey
f5d9ac4526 Cleaned up some comments and debug code 2023-07-11 08:18:06 -07:00
mjturi-mai
56c794108d actual fixes for velocity estimate errors and bad rng fusion 2023-07-11 08:18:06 -07:00
Matthias Grob
2dcb525cd9 RCUpdateTest: RC switch correct corner case test value 
Co-authored-by: Junwoo Hwang <junwoo091400@gmail.com>
 2023-07-11 15:58:48 +02:00
Matthias Grob
42fa41e601 rc_update: fix on-off-switch with negative threshold values 2023-07-11 15:58:48 +02:00
Matthias Grob
1fa5136e30 RCUpdateTest: add unit test for return switch 2023-07-11 15:58:48 +02:00
Matthias Grob
392d445783 RCUpdateTest: fix unit test parameters + restoring state after test 
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.

Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
 2023-07-11 15:58:48 +02:00
Matthias Grob
e127ada07b rc_update: extend ModuleParams::updateParams() for local parameter updates 2023-07-11 15:58:48 +02:00
Matthias Grob
87c697a0d6 rc_update: switch back to protected scope and use fixture for testing 2023-07-11 15:58:48 +02:00
Silvan Fuhrer
81764c43a1
EKF2: use timestamp from argument of PublishEvPosBias() (#21822) 
* EKF2: use timestamp from argument of PublishEvPosBias()

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

* Update src/modules/ekf2/EKF2.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2023-07-11 11:07:39 +02:00
Matthias Grob
02ab5e0704 drv_pwm_output: remove unused PWM_ defines 2023-07-10 18:58:37 +02:00
Matthias Grob
e776aca9ef UUV: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
6b7aed3d44 Boats: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
95a35c972d Rovers: stop motors when commanding zero speed 2023-07-10 18:58:37 +02:00
Matthias Grob
0be6069b83 TiltrotorVTOL: allow stopping front tilted motors in fast forward flight 2023-07-10 18:58:37 +02:00
Matthias Grob
66b451e61f TailsitterVTOL: allow explicitly stop forward motor with zero thrust 2023-07-10 18:58:37 +02:00
Matthias Grob
5568afbb12 StandardVTOL: explicitly stop forward motor with zero thrust 2023-07-10 18:58:37 +02:00
Matthias Grob
6b7b34a71a FixedWing: explicitly stop forward motor with zero thrust 
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
 2023-07-10 18:58:37 +02:00
Matthias Grob
2a077181d9 ActuatorEffectiveness: add function to delectively stop motors with zero thrust 2023-07-10 18:58:37 +02:00
Matthias Grob
a8bf47e606 Set default minimum and maximum PWM for motors 
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM

Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
 2023-07-10 18:58:37 +02:00
xianglunkai
646f711b1a fake_magnetometer: add dpends=fake_magnetometer 2023-07-06 22:43:13 -04:00
Beat Küng
0d6cb46c83 lightware_laser_i2c: add SF30/D 2023-07-06 22:42:39 -04:00
bresch
afa085da7f geofence: fix altitude change fence check 
When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
 2023-07-06 22:39:39 -04:00
Julian Oes
745fa3720e fmu-v6x: build battery status 
This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.

Testing is required whether this actually works on Pixhawk 6X though.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-07-07 13:40:58 +12:00
Vincent Poon
e18da100ed Add ADC_ADS1115 Parameter to FMUv6x Default Build 
Adding ADC_ADS1115 Parameter to FMUv6x Default Build to allow FMUv6X user to use ADS1115 with Analog Power Modules.
 2023-07-07 13:40:58 +12:00
Antonio Sanjurjo C
c1cb48c2ea EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers 
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
 2023-07-06 09:36:27 +02:00
Patrick José Pereira
39e04d9712 lib: matrix: SquareMatrix: Deal with the special case of M=1 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-07-06 08:24:33 +02:00
Patrick José Pereira
724f5a97a9 platform: posix: px4: Add missing ctsdint include for uint8_t 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-07-06 08:24:33 +02:00
Julian Oes
a6502c9f2b ROMFS: auto try RGBLED is31fl3195 
This is required to auto-start the is31fl3195 driver if connected.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-07-05 20:49:39 +12:00
Thomas Stastny
dccfcb85c1 (Mission) FeasibilityChecker: remove duplicate line 2023-07-04 11:17:23 +02:00
Silvan Fuhrer
a617e9c54b Navigator RTL: run find_RTL_destination() only on_inactive 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-04 09:36:22 +02:00
Silvan Fuhrer
f275085e84 Navigator: Loiter: always establish new Loiter with center at current pos 
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-07-04 09:35:40 +02:00
Mathieu Bresciani
288e3ae74a
EKF2: vision attitude error filter (#21791) 
* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
 2023-07-03 11:13:59 -04:00
Andrew Brahim
24665f10f2
VL53L1X: fix scheduling (#21787) 
* should be 50 Hz instead of 50,000 Hz

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2023-07-03 10:49:53 -04:00
Matthias Grob
a36c922fc0 ActuatorEffectivenessHelicopterTest: adapt to new constructor 2023-07-03 16:21:27 +02:00
Beat Küng
77d6c722a7 helicopter: add tail servo support 
as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
 2023-07-03 16:21:27 +02:00
Beat Küng
bae413a332 v6x: start mavlink on TELEM2 for skynode 
Equivalent to v5x
 2023-07-03 16:20:41 +02:00
Igor Mišić
abe0ca1307 boards/holybro/kakutef7: enable gps, osd, top, dmesg. Disable uxrce_dds 2023-07-03 11:22:33 +02:00
Igor Mišić
f5193bb155 boards/holybro/kakutef7: enable rc serial singlewire 2023-07-03 11:22:33 +02:00
Igor Mišić
2307d4aa22 boards/holybro/kakutef7: remove px4_platform_config 
kakutef7 doesn't use manifest
 2023-07-03 11:22:33 +02:00
Harrison Gieraltowski
018ec97c41
mavlink_log_handler: handle _next_entry (#21784) 2023-07-03 10:30:07 +02:00
Igor Mišić
bfa72a1bee rc.board_arch_defaults: add the silent flag for EKF2_MULTI_IMU 2023-07-03 10:08:26 +02:00