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16780 Commits

Author SHA1 Message Date
Silvan Fuhrer
ade68aa563 Navigator: Geofence: stay in GF breached mode when in Loiter due to breach 
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f2aabe968e Geofence: add checks for custom GF validity when uploading it 
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
2865bbb8ab Geofence: rework messaging and notification 
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
3c194d552a Geofence: rework the way to check all GF at once 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
a41f24a2e2 geofence_result.msg: rename premove unused field home_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
b178c943a6 GeofenceBreachAvoidance: remove unused variables and methods 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
c0f26c8fbd mission_feasibility_checker.h: remove unused Geofence class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
563bfbf6e7 Geofence: remove GF_COUNT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
fd709e05b0 Geofence: remove GF_ALTMODE 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f3eacb4844 Geofence: fix status print 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f8f4ea2fee MissionFeasibilityCheck: rename checkGeofence to checkMissionAgainstGeofence() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Julian Oes
976cd67f71
logger: increase default GPS rate 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 21:30:31 -05:00
GuillaumeLaine
ab867b963c dds_topics: Adds missing data reader 2023-11-22 10:42:05 +00:00
GuillaumeLaine
f3e85219a3 dds_topics: Adds handling for empty yaml fields 2023-11-22 10:42:05 +00:00
GuillaumeLaine
85c75aedd1 dds_topics: Adds multi publication to subscribed dds topics 2023-11-22 10:42:05 +00:00
bresch
e568b4a1d7 replay: increase buffer size 
required to parse larger topics
 2023-11-21 21:56:34 -05:00
bresch
6320ca64a9 ekf2-terr: allow range fusion before takeoff 2023-11-21 21:56:34 -05:00
bresch
0f3378e194 ekf2: fix terrain range finder logging 2023-11-21 21:56:34 -05:00
bresch
1c3a1183c8 ekf2-flow: refactor control logic 
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
 2023-11-21 21:56:34 -05:00
Roman Bapst
dd2322d622
Added PerformanceModel for fixed wing (#22091) 
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2023-11-21 17:13:50 +01:00
Silvan Fuhrer
70cd224236 EKF2 params: remove wrong horizontal keyword and gps-->GNSS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-21 15:23:33 +01:00
bresch
c7672fc68c ekf2-params: delta vel/ang -> accel/gyro 2023-11-20 20:10:16 -05:00
Matthias Grob
9bed8f48c7 Remove LNDMC_ALT_MAX 
This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
 2023-11-20 14:52:35 +01:00
PX4 BuildBot
fd4d635035 Update submodule mavlink to latest Sun Nov 19 12:39:21 UTC 2023 
- mavlink in PX4/Firmware (e819620173822548d05b6f309c615b48eda9261c): 81524c2b34
    - mavlink current upstream: 70181c42fc
    - Changes: 81524c2b34...70181c42fc

    70181c42 2023-10-12 Hamish Willee - MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET - set units to deg
f484eaf8 2023-10-11 Hamish Willee - Update test_and_deploy.yml - drop node 12 (#2041)
44197849 2023-10-11 tom - Cleanup of typos and inconsistencies in common.xml (#2044)
b295e70e 2023-09-28 Hamish Willee - Update ardupilotmega.xml - delete SPEED_TYPE (#2042)
e8d796a4 2023-09-27 Hamish Willee - SPEED_TYPE enum for MAV_CMD_DO_CHANGE_SPEED (#2039)
c313a2f3 2023-09-23 Asif Khan - common:  Add camera instance field to MAV_CMD_IMAGE_START/STOP_CAPTURE (#2024)
cad18c56 2023-09-20 Marcin - Add VELOCITY_LIMITS msg (#2015)
 2023-11-19 11:51:35 -05:00
Braden Wagstaff
35e13a908e DDS Add battery_status publisher 2023-11-18 11:06:02 +00:00
alexklimaj
42d70808e9 uxrce add manual control input subscriber 2023-11-18 11:06:02 +00:00
PX4 BuildBot
ae89c30a18 boards: update all NuttX defconfigs 2023-11-17 09:15:14 -05:00
Matthias Grob
ead16d0e6c Commander: add parameter to disallow disarming in manual thrust modes 2023-11-17 09:53:56 +01:00
Matthias Grob
78987f6016 ManualControl: introduce stick gesture for killing 2023-11-17 09:53:56 +01:00
bresch
2110eae25d atune: initialize filter if not already initialized 2023-11-16 23:14:17 -05:00
Daniel Agar
62027b0965
ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers 
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
   consistent with the relevant aid source (GPS, baro, etc), but it can
   be a little awkward with users having to fight manual parameter
   changes in the right order
 2023-11-16 15:02:43 -05:00
Daniel Agar
3b2d766573 ekf2: purge remaining EKF2_AID_MASK references 2023-11-16 09:36:58 +01:00
Yannick Fuhrer
d609e41413 flightmodes: flag advanced modes accordingly 2023-11-15 13:18:58 +01:00
Beat Küng
d12a7dd11d uxrce_dds_client: run session until we do not get data anymore 
Otherwise there can be significant delay for received data
 2023-11-15 13:18:58 +01:00
Beat Küng
fb7e973dfd commander: allow external modes to be assigned to RC 
Stores a hash of the mode name so that the same mode is always assigned
to the same index independent from registration order.
 2023-11-15 13:18:58 +01:00
Beat Küng
22acb08406 uorb: add message format compatibility check 
This can be used by DDS/ROS 2 to check for matching message definitions.
 2023-11-15 13:18:58 +01:00
Matthias Grob
0dcecf0666 FlightModeManager: avoid internal flight task running concurrently with external mode 2023-11-15 13:18:58 +01:00
Beat Küng
bb900264e0 commander+mavlink: implement MAVLink standard modes 2023-11-15 13:18:58 +01:00
Beat Küng
b46e1d744b commander: add config overrides 2023-11-15 13:18:58 +01:00
Beat Küng
889b6a1a78 commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-11-15 13:18:58 +01:00
Beat Küng
fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00
Beniamino Pozzan
58d2badf9f [uxrce_dds_client] add services (repliers) and basic VehicleCommand service 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-14 11:29:17 -05:00
Mathieu Bresciani
efa12ad224
EKF2 simplify covariance propagation (#22344) 
* ekf2-derivation: optimize before generating cpp code

* update EKF2 change indicator

Slight changes due to simplifications done in the covariance prediction

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
 2023-11-14 11:22:16 -05:00
bresch
00568985c0 yaw_est: use error-state covariance prediction 
Convergence improvements in high yaw rate conditions
 2023-11-13 11:37:27 -05:00
Konrad
32127ca789 loiter: set loiter position to current position setpoint, if it is a loiter item 2023-11-13 12:43:58 +01:00
Michał Barciś
6800a448b0 ThrowLaunch: check ThrowMode parameter to skip takoff in MulticopterPositionControl 
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Matthias Grob
9d455d5f1f ThrowLaunch: move into separate class 2023-11-13 11:57:19 +01:00
Michał Barciś
1a48f311ea ThrowLaunch changes after PR 
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Michał Barciś
c2b4f051f9 Added Throw Launch feature 
More details in the PR: https://github.com/PX4/PX4-Autopilot/pull/21170

Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
 2023-11-13 11:57:19 +01:00
Konrad
44d1003f8e rtl: Only use approaches for vtols in fixed wing mode 2023-11-12 15:41:28 +01:00