b49c0ebf86
ekf2: check mag field with mag bias removed
...
- this is to allow the estimated mag bias to clear mag_field_disturbed
and unlock mag_3D/mag_hdg
2024-09-16 15:26:58 +02:00
2fd4150b38
differential: Add stabilized and position mode ( #23669 )
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* differential: add position and stabilized mode
* differential: add hardcoded stick input deadzones
2024-09-16 12:09:51 +02:00
81747f35bb
rover: add descend navigation state to land detection
2024-09-16 09:36:38 +02:00
1c9c5e51c2
boards: cuav x7pro: remove build of ROVER and Q_ATTITUDE_ESTIMATOR to save flash
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-16 09:11:23 +02:00
82a7d0410c
DistanceSensorModeChangeRequest: renaming of variable
2024-09-16 09:11:23 +02:00
aab2390e51
navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing
2024-09-16 09:11:23 +02:00
1755b8304e
RTL direct: Make sure the _rtl_state captures the current status and not the next one
2024-09-16 09:11:23 +02:00
e6f07bde2a
lightware_laser: add option to listen to system to enable/disable distance sensor
2024-09-16 09:11:23 +02:00
9ca0630376
airframes: SIH_tailsitter: add SENS_DPRES_OFF to bypass airspeed cal
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-13 15:53:52 +03:00
11440cfb45
added some default parameteter that allow the transition to complete
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-09-13 15:53:52 +03:00
878c8bfcce
SIH: fix airspeed for tailsitter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-09-13 15:53:52 +03:00
4713a6737e
TECS: ramp up fast descend over 2_s to ramp down the throttle command
2024-09-13 14:04:39 +02:00
585c92796d
mission_base: do not make terrain avoidance check when mission is not run anymore
2024-09-13 13:59:24 +02:00
4ba4b340cc
Reduce the orbit jerk by using a slew rate
2024-09-13 10:28:42 +02:00
22c2878cf8
send acknowledgement after receiving vehicle wind cmd
2024-09-12 09:34:08 +02:00
741ea6b707
differential: add individual parameters for speed and yaw rate feedforward
2024-09-11 13:57:27 +02:00
5d8a107925
differential: fix closed loop control
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removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise
2024-09-11 13:57:27 +02:00
c94c1ce4d2
Navigator: Support straight line mission landings ( #23576 )
...
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com >
2024-09-10 17:44:24 +02:00
03aec2e188
HeadingSmoothing: fix angle wrapping and add unit tests
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-09-10 15:06:19 +02:00
a5729da4e9
Simplify gz bridge CMakeLists and add GZ Ionic ( #23657 )
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Co-authored-by: jmackay2 <jmackay2@gmail.com >
2024-09-10 11:53:00 +02:00
15e9c65a8f
dist-sensor: reduce enum names
2024-09-09 15:40:40 +02:00
8bca467c15
dist-sensor: use enum instead of integer
2024-09-09 15:40:40 +02:00
bb0210ecd7
rover: add rtl as a landed condition for rovers ( #23646 )
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The RTL sequence from the navigator requires the vehicle to land. This is now handled for rovers by setting its state to landed if it is within the acceptance radius of the home position when in return mode.
2024-09-06 17:21:49 +02:00
67ee4817ae
Makefile add micoair h743 bootloader
2024-09-06 11:14:30 -04:00
232f699a7f
cmake-variants.yaml add micoair h743
2024-09-06 11:14:30 -04:00
c2bd3900be
Jenkins: compile add micoair h743
2024-09-06 11:14:30 -04:00
44967bdaab
ekf2: uncorrelate position covariance after velocity reset ( #23644 )
2024-09-06 08:51:15 -04:00
1337fca4d0
vtol backtransition: removed downscaling of fw controls during the backtransition
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-09-06 13:55:48 +03:00
3d36c8519d
drivers/power_monitor: Implement temperature sensor support for INA228 / INA238
2024-09-05 23:09:01 -04:00
f98eb067be
logger params: clarify AUX1 logging trigger
2024-09-05 18:06:29 +02:00
e4d25df58a
Consistently use "stick gesture" for "rc stick gesture"
2024-09-05 18:06:29 +02:00
8eaf93468e
Commander: feedback string for arming/disarming: make clear when from gesture
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
d967cdbb48
Manual control: rename SOURCE_RC_STICK_GESTURE to SOURCE_MANUAL_CONTROL_GESTURE
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
556a302a09
Logger: replace RC keyword by 'manual control'
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
f7c35291ee
Rover Differential: remove RC keyword from params
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
81cf6a736d
Commander: add VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE to list of externaly handled commands ( #23642 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 11:20:39 +02:00
6fa6360aef
Commander: always allow to switch to LAND mode ( #23580 )
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Special handling for LAND mode: always allow to switch into it such that if used
as emergency mode it is always available. When triggering it the user generally wants
the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-03 18:10:37 +02:00
80d4fad624
DistanceSensorCheck: do not raise a distance sensor failure if the SFXX_MODE is set to 2 and we are in a VTOL FX flight phase
2024-09-03 15:53:09 +02:00
a9cdb36d7c
differential: reset integrators when disarmed ( #23637 )
2024-09-03 09:31:39 +02:00
8f6ce4edbf
mavlink/lib: move open_drone_id helpers to mavlink
...
I could not extract the open_drone_id helpers to a separate lib because
it would require the mavlink headers while the mavlink library would
also depend on it, so it ended up being a circular dependency.
Instead, I'm now just using the headers from within the mavlink module
as well as from the uavcan driver.
2024-09-02 16:20:10 +12:00
b7c5ba1752
boards: make flash space for remote ID over DroneCAN
2024-09-02 16:20:10 +12:00
cd63cfed3a
remoteid: implement System as sent from GCS
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This will send the System message if it is already being sent by a ground
station. Otherwise, it will assemble the message itself using the
takeoff/home location.
2024-09-02 16:20:10 +12:00
7d1d398984
remoteid: add SelfID message
2024-09-02 16:20:10 +12:00
04ea4f9b3a
uavcan: add OpenDroneID ArmStatus, operator ID
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In order to have operator ID be sent by QGC, we need to forward
ArmStatus from the remote ID module (here on DroneCAN) to MAVLink.
2024-09-02 16:20:10 +12:00
d999258171
uavcan: implement OpenDroneID System
2024-09-02 16:20:10 +12:00
de00c23e19
uavcan: implement OpenDroneID Location
2024-09-02 16:20:10 +12:00
cf19764d75
uavcan: implement OpenDroneID BasicID
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Signed-off-by: Julian Oes <julian@oes.ch >
2024-09-02 16:20:10 +12:00
87a63e75be
mavlink: extract OpenDroneID function to lib
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This extracts the function mapping from MAV_TYPE to MAV_ODID_UA_TYPE to
the library, so that it can be re-used later by the remote ID
implementation over DroneCAN.
Signed-off-by: Julian Oes <julian@oes.ch >
2024-09-02 16:20:10 +12:00
4c63e9e4f9
libuavcan: update DroneCAN submodule
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Signed-off-by: Julian Oes <julian@oes.ch >
2024-09-02 16:20:10 +12:00
7dcea6b2e4
EKF2: range measurement rejection in rain/fog ( #23579 )
2024-08-30 17:25:56 +02:00
Daniel Agar