* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.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>
* feat: configurable board pwm freq from Kconfig
* feat: add board_pwm_config to submenu
* fix: define sequence correction
* fix: revert Tools/simulation/gz
* fix: track upstream gz
* fix: track upstream mavlink
* feat: adjustable pwm for multiple board types
* feat: add conditional check for CONFIG_ for correct fallback
* add: spacecraft board with correct BOARD_PWM_FREQ supporting 10Hz actuation rate
* fix: set dependencies for submenu arch chips
* fix: keep only upper arch level
* fix: proper checking - still not showing up for board config
* feat: add hidden kconfig for platforms
* Merge Nuttx config into px4board
Allows to expose nuttx into PX4 if needed
* Kconfig: Include nuttx symbols in updateconfig
Only if applicable i.e. defined in the kconfig
* fix: merged config with previously generated boardconfig
* doc: updated code comment
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
I don't think we have a way to explicitly detect if BAT1 or BAT2
"bricks" are correct, so we have to assume they are, and rely on the
voltage/current shown.
Additionally, we can now power cycle sensor power.
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* adis16507: enhance driver to handle and recover from all failure modes
- Clean up driver
- Add optional hardware reset
- Fix scale and range for 125 deg/s variant
- Handle communication errors when read returns zeroes
- Improved perf counters
* change prints to PX4_DEBUG, define BURST_READ_CMD, do both soft and hard reset, use ScheduleNow instead of 1ms delay, change read/write stall period to SPI_STALL value
* hrt: Fix PPM input on channel 2
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.
Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.
This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"
Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
* rc_input: enable sharing serial and PPM pin
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
* boards: Add support for Holybro KakuteH7-Wing
Silvan Fuhrer