Daniel Agar
990b067b25
uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule
2024-11-27 14:09:13 -08:00
bresch
8a9bac29a2
SIH-FW: allow pitching up during takeoff
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Otherwise difficult to get lift
2024-11-27 11:14:56 -05:00
bresch
7236ef2d17
SIH-FW: fix aileron and elevator signs
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This broken when changing from mixer files to the control allocation module.
2024-11-27 11:14:56 -05:00
bresch
1dad25b763
SIH: do not assume being a tailsitter when creating airspeed measurement
2024-11-27 11:14:56 -05:00
Matthias Grob
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
Daniel Agar
e194a52907
ekf2: derivation.py remove sideslip small angle approximation
2024-11-25 08:53:57 +01:00
bresch
14fe6c2167
ekf2: resetHeightTo -> resetAltitudeTo
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The vertical position state is now an altitude, not just a local height
2024-11-22 15:13:47 +01:00
bresch
93c690f133
ekf2: do not inline getPosition
2024-11-22 15:13:47 +01:00
bresch
a224d38e52
lla: move implementation to cpp file
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This reduces flash usage
2024-11-22 15:13:47 +01:00
bresch
aeb182a8ed
ekf2: rename resetAltitudeTo to initialiseAltitudeTo
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This is to better show that the altitude is also used to set the origin.
2024-11-22 15:13:47 +01:00
bresch
30d98885b7
update change indicator
2024-11-22 15:13:47 +01:00
bresch
814a2706f5
ekf2: compensate for coriolis and transport rate accelerations
2024-11-22 15:13:47 +01:00
bresch
842212df6c
ekf2: update earth rate also without GNSS
2024-11-22 15:13:47 +01:00
bresch
6becccb217
update change indicator
2024-11-22 15:13:47 +01:00
bresch
a492457322
ekf2-derivation: build state struct based on type
2024-11-22 15:13:47 +01:00
bresch
13c5bd4412
ekf-flow: do not reset position when resetting to flow
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Flow only provides velocity information
2024-11-22 15:13:47 +01:00
bresch
b19a6ee3b5
ekf2: store position state as lat/lon/alt
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The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
2024-11-22 15:13:47 +01:00
Beat Küng
8ccd43dc1b
refactor commander: remove unused argument is_armed in Report class
2024-11-21 14:16:22 +01:00
Beat Küng
be300b767d
commander: ensure health report is always sent out before failsafe notificaation
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As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
2024-11-21 14:16:22 +01:00
Matthias Grob
044d13635d
Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID"
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Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
2024-11-21 11:38:23 +01:00
Claudio Chies
f41a08aea8
CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change
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rewrite of obstacle_distance merging methods, and fix of various issues
2024-11-21 11:36:03 +01:00
Matthias Grob
2ef2911c36
Remove FlightTaskManualPositionSmoothVel
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The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
2024-11-21 11:36:03 +01:00
Matthias Grob
079f3ca67c
StickAccelerationXY: Simplify collision prevention call
2024-11-21 11:36:03 +01:00
Claudio Chies
0cd6a553b9
CollisionPrevention: rewrite for Acceleration based manual flight mode
2024-11-21 11:36:03 +01:00
PX4 BuildBot
2f8460da91
Update submodule mavlink to latest Wed Nov 20 13:16:31 UTC 2024
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- mavlink in PX4/Firmware (7e594e898b2281e7d3f6ef4057f1add829643058): e221d46d460e420102dbe221d46d46...0e420102db#2174 )
01e0cc2f 2024-11-14 Hamish Willee - SMART_BATTERY_INFO - revert and renumber BATTERY_INFO (#2173 )
2024-11-20 22:33:21 -05:00
Matthias Grob
3f83a8fa7a
mavlink: remove reference to COLLISION message I had missed
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Should have been part of
b5d18c613181f0935890aef91cbc1da4d06e00c3
2024-11-20 13:02:59 -05:00
Marco Hauswirth
a191e1e14e
always allow disabling uncalibrated baro ( #23782 )
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* always set baro calibration id and prio param
* change to ParametersSave
* only save baro calib param if not calibrated
2024-11-20 14:05:46 +01:00
Matthias Grob
53d920ea33
batteryCheck: fix enabling circuit breaker still causing battery failsafes
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Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
2024-11-20 13:25:20 +01:00
somebody-once-told-me
3943025f32
Centralize yaw margin ( #23982 )
2024-11-20 09:52:36 +01:00
PX4 BuildBot
a85a9eccf7
boards: update all NuttX defconfigs
2024-11-15 21:14:12 -05:00
Silvan Fuhrer
08155d20f8
estimatorCheck: have low position warning as health component failure to fix reporting
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-15 15:32:53 -05:00
Silvan Fuhrer
3093c593a5
Commander: put action for low position estimation accuracy into parameter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-15 15:32:53 -05:00
Silvan Fuhrer
f9c4c8b22c
VehicleIMU: move setting of _notify_clipping from constructor to ParametersUpdate()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-13 12:10:48 -05:00
bresch
ea1a6a327c
flow: add scale factor parameter
2024-11-13 10:28:29 -05:00
Claudio Chies
d14c054149
SIM: MPC: add two x500 lidar airframes ( #23879 )
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* add two x500 lidar airframe, including the gazebo bridge for the lidar sensors and their orientation
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update src/modules/simulation/gz_bridge/GZBridge.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* update submodule
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
2024-11-13 08:44:19 +01:00
bresch
31bef770aa
replay: do not fail on first ignored topic
2024-11-12 21:22:25 -05:00
Matthias Grob
651552c9b8
Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability
2024-11-12 21:21:40 -05:00
Matthias Grob
990811098b
MulticopterRateControl: refactor torque setpoint naming
2024-11-12 21:21:40 -05:00
Daniel Agar
a2156244d3
uxrce_dds_client: CMakeLists.txt cleanup
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- common variable for Micro-XRCE-DDS-Client
- don't mix tabs and spaces
- px4 module include all dependencies
2024-11-12 21:20:54 -05:00
Matthias Grob
b5d18c6131
Remove unused collision_report message
2024-11-12 21:18:57 -05:00
PX4 BuildBot
84ba95b496
Update submodule mavlink to latest Wed Nov 13 00:39:41 UTC 2024
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- mavlink in PX4/Firmware (a793ddeac49e4251b329fc35f6e066c8d1d9b8f8): b4add52929e221d46d46b4add52929...e221d46d46#2162 )
6ac99ca4 2024-11-06 Hamish Willee - Remove the imported headers for everything except common.xml (#2166 )
5f7fe504 2024-11-06 David Sastre - development.xml: First prototype for multi-GCS operation. (#2158 )
2024-11-12 21:17:32 -05:00
RomanBapst
2f69f3fc2e
mode_requirements: require only relaxed local position for auto land, in order
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to enable auto land with optical flow
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2024-11-12 15:24:25 +01:00
chfriedrich98
233963b2d5
ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params
2024-11-11 16:40:27 +01:00
chfriedrich98
0ee580f139
ackermann: fix PID implementation
2024-11-11 16:40:27 +01:00
chfriedrich98
4f00df60ae
differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning
2024-11-11 14:44:10 +01:00
Alexander Lerach
fbbfcdb7a6
uxrce_dds_client - Fix nullptr access in certain cleanup situations ( #23913 )
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* Only close initialized objects
* Added err log in case of no ping
* Added err log in case of timesync timeout
2024-11-11 14:23:46 +01:00
Alvaro Fernandez
079b756f1b
VTOL: Added position feedback to backward transition braking controller( #23731 )
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Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.
* vtol_type: added position feedback to backward transition
* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation
* FlightTaskTransition: minor improvements
* FlightTaskTransition: use .dot() consistently and remove unnecessary comments
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-11-11 11:53:28 +01:00
Alexander Lerach
f47719d397
Manual idle current setting ( #23914 )
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* Added param to overwrite analog idle current measurement
* Fixed topic handling
2024-11-11 11:40:30 +01:00
Andrew Brahim
834af98992
uavcan: support GNSS heading from relposheading with offset configurable in estimator
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* uavcan: add GNSS heading from relposheading
* ekf2: new EKF2_GPS_YAW_OFF parameter to configure any offset in GNSS heading
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
2024-11-08 21:52:55 -05:00
bresch
651675fed0
ekf-yaw-est: do not store full S_inverse
2024-11-07 11:37:56 -05:00
