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27972 Commits

Author SHA1 Message Date
Eric Katzfey
98ceb0ce79 voxl_esc: Added GPIO control feature 
voxl_esc: Removed obsolete modal_io_data UORB topic
 2025-02-19 11:00:15 -05:00
Eric Katzfey
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
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
a1ff1d8372 tests: remove test_bezier 
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
Jacob Dahl
46609d5e6c
voxl: document enable_debug command (#24353) 2025-02-17 19:55:24 -08:00
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
dirksavage88
01549a5832 fix to kconfig newline 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
dirksavage88
5ffa69ff54 fix newline in module.yaml 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
Eric Katzfey
b0eb639587
voxl2_io: Updated to latest version from ModalAI fork 
- 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
alexklimaj
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
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
Alexander Lerach
f2471861a3 Fix GPS RTCM instance selection 2025-02-14 09:39:59 +01:00
Eric Katzfey
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds (#24336) 
- 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
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
mahimayoga
69d95a6664 sf45: separate sensor yaw variable into FRD and sensor frames for clarity. 
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
mahimayoga
093b379b6b sf45/collision-prevention: replace repeated code with ObstacleMath library functions. 2025-02-07 13:28:17 +01:00
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
bresch
8d296a50f9 FlightTask: properly initialize EKF reset counters 
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
Daniel Agar
bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
Hamish Willee
9e5cfa330a Commander: Quick calibration supports mag too 2025-02-04 21:58:03 -05:00
mahimayoga
48c0992a7d sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data. 
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
mahimayoga
31bff3e5bb sf45: change handle_missed_bins() function logic. 
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
mahimayoga
cb332e047d obstacle-math: add standard obstacle map functions. 
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
Perre
f7dadd9b89
Remove inclusion of rotors in library to enable test (#24286) 2025-02-03 15:51:55 +01:00