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17771 Commits

Author SHA1 Message Date
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
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
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
Julian Oes
a9214b3aa3
gimbal: don't spoof gimbal device (#24271) 
The current approach was wrong because the gimbal protocol now
handles the case properly where the autopilot is in charge of a
non-MAVLink gimbal.

This means that we don't need to send message "as if we were a gimbal
device" and instead set thet gimbal_device_id to 1 (up to 6) to indicate
we are in charge or a non-MAVLink gimbal.
 2025-01-31 12:59:41 +13:00
Matthias Grob
4c2e69b2e6 estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration 2025-01-30 18:45:10 +01:00
Matthias Grob
f142363575 HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes 
Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
 2025-01-30 18:45:10 +01:00
bresch
3b828e157a MC att: clarify prioritization algorithm 
Especially rename "mix" which is just the delta yaw angle
 2025-01-30 11:28:26 +01:00
Silvan
ddf591c4f5 Navigator: use FLT_EPSILON instead of 0.0001f for >0 float comparison 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-29 15:42:51 +01:00
Silvan
2f2e56c097 Navigator: replace custom NAV_EPSILON_POSITION with FLT_EPSILON 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-29 15:42:51 +01:00
Matthias Grob
7e47605871 batteryCheck: separate event messages for low, critical and emergency battery states 2025-01-29 15:32:47 +01:00
Balduin
41c4933e10 add standard vtol airframe 2025-01-29 11:15:00 +01:00
Bertug Dilman
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed (#24249) 2025-01-28 14:33:15 +01:00
Marco Hauswirth
4df65c133e
add cs_baro_fault to switch to fallback baro if available (#24260) 2025-01-28 10:37:16 +01:00
Balduin
5bca71791a
SIH: clean up control surface configuration (#24205) 
* fix sign error in appropriate place

In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the
control surface deflection signs in generate_fw_aerodynamics to make the
1103 airframe work correctly. However, this breaks the 1101 airframe,
introducing sing errors there.

So, here the change in generate_fw_aerodynamics is reverted to the state
before PR #24175. Instead, the signs are set correctly by using
the HIL_ACT_REV bitfield in the respective airframe config files.

* match control surface parameters to SIH model
 2025-01-27 16:52:29 +01:00
Matthias Grob
165f644580 control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-01-27 08:43:11 +01:00
Matthias Grob
c1cab2d4e0 control_allocator: add unit for slew rate and reword description 2025-01-27 08:43:11 +01:00
bresch
c76e74338b ekf-replay: fix airspeed replay 
If available, the EKF uses airspeed_validated, not airspeed
 2025-01-26 23:05:39 -05:00
Roman Bapst
045c8d9831
Mission feasibility checks: make adding new check less error prone (#24241) 
* make adding new feasibility checks less prone to errors

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* Update src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 16:56:31 +01:00
RomanBapst
57fdda597b vtol_takeoff: store altitude on takeoff and don't use home position altitude 
as vehicle does not need to be close to home position

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-22 14:03:18 +03:00
PavloZMN
ee150a15b4
Optical Flow: add unit testes for only using downward distance sensor (#23266) 
* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

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

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

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

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 11:58:07 +01:00
bresch
caaae6ed51 ekf2: allow sideslip fusion to always start with airspeed fusion 
This allow sideslip fusion to start during VTOL front transition or even
on a multirotor with a vertical stabilizer and an airspeed sensor for example.
 2025-01-22 09:33:16 +01:00
Jacob Dahl
a3215419d7
gz: remove model spawn offset (#24165) 2025-01-22 12:47:25 +13:00
Jacob Dahl
918eca8de4
gz: increase timeout for service request (#24164) 
* gz: increase timeout for service request

* change error messages to warnings, specify retrying

* fix typo
 2025-01-21 22:14:38 +01:00
RomanBapst
f36b45b2ff VehicleOpticalFlow: use 32bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
RomanBapst
25e76883b7 Integrator: use 32bit integer to store dt to avoid overflow 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
Matthias Grob
af062c85eb Revert "FLightTaskAuto: limit nudging speed based on distance sensor" 
This reverts commit 97cb933cff6d837e59dd55123804cd78abdca22a.
 2025-01-21 09:59:47 +01:00
Marco Hauswirth
7a9608e54b
increase EKF2_RNG_FOG for FW and VTOL 2025-01-20 14:43:30 -05:00
Marco Hauswirth
4a5aa1e947
Fix max-hagl restriction to position/altitude control (#23667) 
* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
 2025-01-20 15:50:21 +01:00
Mathieu Bresciani
0d22905558 VTOL params: fix param name 2025-01-20 15:50:06 +01:00