98ceb0ce79
voxl_esc: Added GPIO control feature
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voxl_esc: Removed obsolete modal_io_data UORB topic
2025-02-19 11:00:15 -05:00
73dbecadf1
Qurt: changed the mutex for I2C for the Qurt platform from a single mutex to one for each bus. ( #23531 )
2025-02-19 10:59:45 -05:00
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
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* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
3c129aefa1
Add IC engine control module ( #24055 )
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Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 17:15:32 +01:00
412d4390a6
MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal ( #24242 )
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* 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
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Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 14:38:11 +01:00
5e06ab1430
ekf-agp: do not reset to AGP if GNSS fusion is active
2025-02-18 14:35:10 +01:00
3119510f25
Remove health_component::avoidance
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
ed9111ec49
Remove obstacle avoidance test with Gazebo classic and ROS 1
2025-02-18 14:33:16 +01:00
0b370ab5d3
Remove obstacle avoidance MAVLink Heartbeat check
2025-02-18 14:33:16 +01:00
04cd247c90
FlightTaskAuto: remove isTargetModified()
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As it is no longer needed w/o avoidance.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
a1ff1d8372
tests: remove test_bezier
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b916a96e00
Remove uorb topics exclusively used for avoidance
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- 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
b7b6d45e18
lib: remove bezier
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
b34a5eb6f7
PositionControllerStatus: remove unused fields
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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
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
d2cbe10243
Clean up temperature msg fields ( #24272 )
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* 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
46609d5e6c
voxl: document enable_debug command ( #24353 )
2025-02-17 19:55:24 -08:00
e12c3c00a4
control_allocator: param update avoid temporary
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- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
2025-02-17 14:35:15 -05:00
01549a5832
fix to kconfig newline
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2025-02-14 15:50:43 -05:00
5ffa69ff54
fix newline in module.yaml
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2025-02-14 15:50:43 -05:00
b0eb639587
voxl2_io: Updated to latest version from ModalAI fork
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- Updated to the latest version of the voxl2_io driver from the ModalAI fork.
- Moved to the platform independent Serial driver
- Added voxl2_io driver to the SLPI DSP build
2025-02-14 14:33:38 -05:00
fd5bb9e69c
uavcannode rangefinder: only publish reading too far or too close if less than or greater than. Not equal to.
2025-02-14 14:26:39 -05:00
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
fe5c887895
mag check: do not require mag 0
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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
e3fd50667d
Mag cal: automatically disable internal mags if external ones are available
2025-02-14 16:12:20 +01:00
430be08131
Add payload tx/rx timeouts to DDS
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* Add tx/rx timeouts
* Code style & tx default timeout
* Clarify TX/RX disable value
2025-02-14 14:54:42 +01:00
f2471861a3
Fix GPS RTCM instance selection
2025-02-14 09:39:59 +01:00
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds ( #24336 )
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- VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build
2025-02-14 00:49:09 -05:00
98cba19f50
esc_battery: report temperature
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-02-11 21:17:53 -05:00
975ec30c9c
uxrce_dds_client: add DDS message versioning
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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
136f9f48fc
FW Position controller: transform RWTO_PSP to rad when used ( #24312 )
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-11 12:12:11 +01:00
2b75d2e738
run fog check independently from stuck check
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
8cedef2dc4
further cleanup
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
2c4d38e303
fixed mistake
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
806500fc4a
further improve logic
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
73ade6d05c
range finder: remove potential deadlock
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
35da86c85a
improve unit tests for range fog detection
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-02-11 09:08:25 +01:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
ce64263ce7
publish validated airspeed topic ( #24302 )
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* publish validated airspeed topic
* fix typo
2025-02-07 14:44:48 +01:00
69d95a6664
sf45: separate sensor yaw variable into FRD and sensor frames for clarity.
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Obstacle map is created in sensor frame, but scaling for vehicle orientation is done in vehicle FRD frame.
2025-02-07 13:28:17 +01:00
093b379b6b
sf45/collision-prevention: replace repeated code with ObstacleMath library functions.
2025-02-07 13:28:17 +01:00
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
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
8d296a50f9
FlightTask: properly initialize EKF reset counters
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This fixes a race condition when switching from a flight mode that is
not a flight task (e.g.: stabilized). In this case, the reset counters
were initialized to 0 and deltas were applied to the first setpoints if
the EKF had any of its reset counters different from 0.
2025-02-05 13:21:32 -05:00
bd2a009217
commander: remove MC nav test
2025-02-05 11:58:04 -05:00
9e5cfa330a
Commander: Quick calibration supports mag too
2025-02-04 21:58:03 -05:00
48c0992a7d
sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data.
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yaw_cfg is now read into the obstacle_distance message as the angle_offset. The offset is computed once at init and applied to each measurement.
2025-02-03 17:17:35 +01:00
31bff3e5bb
sf45: change handle_missed_bins() function logic.
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To simplify logic for wrap-around cases and cases in which bins outside the FOV may be filled. Bin indices are offset such that the 0th bin is the first bin within the sensor FOV. This way we can always fill bins from smallest to largest index.
2025-02-03 17:17:35 +01:00
cb332e047d
obstacle-math: add standard obstacle map functions.
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These functions help simplify repeated calculations accross driver and collision prevention files that are computing bins, angles and sensor offsets in obstacle maps.
2025-02-03 17:17:35 +01:00
f7dadd9b89
Remove inclusion of rotors in library to enable test ( #24286 )
2025-02-03 15:51:55 +01:00
Eric Katzfey