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17809 Commits

Author SHA1 Message Date
Balduin adabdf42d0 moving platform: enable movement 
We now have setPlatformVelocity, which commands a velocity command to
the platform. The platform handles it with the
gz::sim::systems::VelocityControl plugin.

We could also set the velocity once and forget about it (has no effect
if doing it directly after creating it though, need to wait a bit, 2
seconds worked). But by setting it constantly we can easily change to
more realistic boat-like movement.
 2025-02-28 16:56:54 +01:00
Balduin 4ee8f58646 set pose of platform 
only updates slowly, fails often, aircraft stays in place if pose
changes discontinuously. need to set velocity.
 2025-02-28 10:21:01 +01:00
Balduin a4894bde07 move platform sdf into string 
rather than untracked sdf file in gz submodule.
 2025-02-28 09:12:15 +01:00
Balduin 10b2321e87 toggle platform with environment var 2025-02-27 17:20:29 +01:00
Balduin 4b4876128d moving platform in gazebo: first steps 
the good:
 - we have a platform in gazebo, created dynamically from GZBridge.
 - it has a NavSat sensor, with a working callback on the PX4 side,
   GZBridge::platformNavsatCallback. From there we can publish the info
   as uOrb and do what we want with it.

the bad:
 - the platform doesn't move yet

the ugly:
 - the platforms sdf file is currently untracked in the
   Tools/simulation/gz submodule. Without this the commit here is
   useless. Need to find a sensible spot for it.
 2025-02-27 15:35:48 +01:00
mahima-yoga c19544fad3 dds-topics: add vtol_vehicle_status message, remove vehicle_air_data. 2025-02-25 14:37:19 +01:00
Silvan Fuhrer d333661fdc Merge branch 'main' into pr-fw_ctrl_api 2025-02-24 16:39:56 +01:00
Ted 35d96d57f9 control_allocator: Added linearization feature for 4 servo swash plates to prevent binding (#23961) 
* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding

* Apply suggestions from code review

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

* update description of CA_LIN_SERVO parameter

* update variable name

* add missing semi-colon

* fix variable referenced before assignment

* add missing indentation

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

* removed param unnecessary param

* removed whitespace

* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.

* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.

* added comment and fixed spelling mistake

* fix spelling mistake

* fix formatting

* reduce CA_MAX_SVO_THROW short description length to stop test failure

* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature

* remove NAN check.

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-24 12:17:11 +00:00
Hamish Willee 4ea7de449a InternalCombustionEngineControl - doc corrections (#24359) 
* InternalCombustionEngineControl - doc corrections

* Update InternalCombustionEngineControl.cpp
 2025-02-21 08:34:08 +11:00
Silvan Fuhrer 24da87db12 FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN (#23877) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-20 09:28:27 +01:00
Jacob Dahl 1db50cb331 mavlink: add missing fields for DISTANCE_SENSOR 2025-02-19 12:11:42 -05:00
Silvan Fuhrer bc742b05f0 Merge branch 'main' into pr-fw_ctrl_api 2025-02-19 15:54:26 +01:00
chfriedrich98 04a3c4af20 Differential Rover: Refactor and clean up, align with Ackermann rover(#24318) 
* differential: refactor code architecture

* Offboard fix

* fix accel/decel slew rate
 2025-02-18 18:26:38 +01:00
Silvan Fuhrer 3c129aefa1 Add IC engine control module (#24055) 
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default. 

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
 2025-02-18 17:15:32 +01:00
Perre 412d4390a6 MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal (#24242) 
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off

* Increase queue length to avoid automatically unadvertise queued publications with queue length 1

* Improve readability

---------

Co-authored-by: Pernilla <pernilla@auterion.com>
 2025-02-18 14:38:11 +01:00
bresch 5e06ab1430 ekf-agp: do not reset to AGP if GNSS fusion is active 2025-02-18 14:35:10 +01:00
Silvan Fuhrer 3119510f25 Remove health_component::avoidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Matthias Grob ed9111ec49 Remove obstacle avoidance test with Gazebo classic and ROS 1 2025-02-18 14:33:16 +01:00
Matthias Grob 0b370ab5d3 Remove obstacle avoidance MAVLink Heartbeat check 2025-02-18 14:33:16 +01:00
Silvan 04cd247c90 FlightTaskAuto: remove isTargetModified() 
As it is no longer needed w/o avoidance.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan b916a96e00 Remove uorb topics exclusively used for avoidance 
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg

Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan b7b6d45e18 lib: remove bezier 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan b34a5eb6f7 PositionControllerStatus: remove unused fields 
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan 1f2dba68d2 remove avoidance library and logic 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Marco Hauswirth d2cbe10243 Clean up temperature msg fields (#24272) 
* remove temp field from airspeed.msg, adjust temp selection

* temp-sensor hirarchy: airspeed, ext. baro, default value

* directly use diff-press or baro temp in true-airspeed  calc

* improve clarity

* add enum for temperature source in VehicleAirData.msg
 2025-02-18 13:23:10 +01:00
Daniel Agar e12c3c00a4 control_allocator: param update avoid temporary 
- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
 2025-02-17 14:35:15 -05:00
RomanBapst 55be9648e8 improved handling of control limits 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-17 14:35:32 +03:00
mahimayoga 6003696b40 dds: add Wind, AirspeedValidated and VehicleAirData messages. 2025-02-17 14:35:32 +03:00
Marco Hauswirth 61d595dc64 reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement 2025-02-14 17:10:14 +01:00
bresch fe5c887895 mag check: do not require mag 0 
sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
 2025-02-14 16:12:20 +01:00
bresch e3fd50667d Mag cal: automatically disable internal mags if external ones are available 2025-02-14 16:12:20 +01:00
Alexander Lerach 430be08131 Add payload tx/rx timeouts to DDS 
* Add tx/rx timeouts

* Code style & tx default timeout

* Clarify TX/RX disable value
 2025-02-14 14:54:42 +01:00
Alex Klimaj 98cba19f50 esc_battery: report temperature 
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-02-11 21:17:53 -05:00
Beat Küng 975ec30c9c uxrce_dds_client: add DDS message versioning 
This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
 2025-02-11 13:19:25 +01:00
Silvan Fuhrer 136f9f48fc FW Position controller: transform RWTO_PSP to rad when used (#24312) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-11 12:12:11 +01:00
RomanBapst 2b75d2e738 run fog check independently from stuck check 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst 8cedef2dc4 further cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst 2c4d38e303 fixed mistake 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst 806500fc4a further improve logic 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst 73ade6d05c range finder: remove potential deadlock 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst 35da86c85a improve unit tests for range fog detection 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
chfriedrich98 55f51d7e7e ackermann: refactor code architecture 2025-02-10 15:54:24 +01:00
Bertug Dilman ce64263ce7 publish validated airspeed topic (#24302) 
* publish validated airspeed topic

* fix typo
 2025-02-07 14:44:48 +01:00
RomanBapst 954cef1f50 range finder: remove potential deadlock 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-07 16:40:04 +03:00
RomanBapst d49ce204f7 improve unit tests for range fog detection 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-07 16:39:33 +03:00
Pedro Roque e7e76e2e21 Spacecraft build and bare control allocator (#24221) 2025-02-06 23:54:24 -05:00
Marco Hauswirth de1ade8eb8 sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1 2025-02-06 23:47:32 -05:00
RomanBapst 677c9c7029 Merge branch 'pr-fw_ctrl_api' of github.com:PX4/PX4-Autopilot into pr-fw_ctrl_api 2025-02-06 17:10:38 +03:00
RomanBapst 08e909ac72 publish default control limits once 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-06 17:10:08 +03:00
mahimayoga f2a613207d dds: add fw control api's to DDS topics yaml 2025-02-06 15:00:22 +01:00