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b8ad9bdbe5adcf6d6b8bbc78f0ab3f6ad895cc7a
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16385 Commits

Author SHA1 Message Date
mcsauder b8ad9bdbe5 Add magnetometer thermal compensation. 2023-06-07 12:07:29 -04:00
oneWayOut 6ee2d796ea delete unused ECL_LIB_GIT_VERSION 
Since 'ecl' is nomore a git submodule, code lines related to
'ECL_LIB_GIT_VERSION' could be deleted
 2023-06-06 11:24:49 -04:00
Matthias Grob b625e43566 rc_update: throttle trim centering fix for reverse channel 
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
 2023-06-06 17:22:33 +02:00
bresch 5233b33242 update change indicator 2023-06-05 11:58:42 -04:00
bresch 403a6310c4 gnss yaw: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6b259d5f6 yaw_fusion: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch d4528dc53a sideslip: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch e7c4a22be8 mag_3d: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6f1a63659 opt_flow: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch 9d7abf2552 ekf2: symforce - use builtin Rot3 and Quaternion operations 2023-06-05 11:58:42 -04:00
Silvan Fuhrer a52c0fd9f5 FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 1c7320b9e3 VTOL: params: add missing @decimal and @increment 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ac811450e5 Tiltrotor params: set default for VT_TILT_TRANS to 0.4 
0.4 tilt is more reasobale to get nice transitions than
the previous 0.3.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 8f64c79b4c FWAttitudeController: params: increases parameter ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 459f9c5331 Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50% 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ad778b37f5 FWRateController: fix @group, all should be in FW Rate Control group 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer f41ad10275 FW Rate Controller: relax param ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer a1167d6c98 Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item (#21641) 
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:21:23 +02:00
Eric Katzfey d2011e99b2 commander: add Open Drone ID arming check (#21652) 2023-06-01 07:52:52 +02:00
Silvan Fuhrer 4b5e14aeec Navigator: MissionFeasibilityCheck: check if items fit to the current vehicle type (#21602) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-31 19:27:27 +02:00
Roman Bapst d6413a6a90 Refactor uncommanded descend Quad-Chute (#21598) 
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)

* disabled altitude loss quadchute by default

* altitude loss quadchute: added protection against invalid local z


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-05-31 17:57:50 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer bd182ecf70 FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer ad769db8d6 FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Loïc Dubois 1b9d90e7c4 mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob 7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Patrick José Pereira 09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
PX4 BuildBot 74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/18955a04c7c7467e00ea42b704addb4a9c12b53a
    - Changes: https://github.com/mavlink/mavlink/compare/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa...18955a04c7c7467e00ea42b704addb4a9c12b53a

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
Silvan Fuhrer 599a66c8a5 Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch 
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-16 10:12:24 +02:00
Silvan Fuhrer 1ddacec36b FW Att/Rate controller: move max attitude params to Att Controller params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 14:35:34 +02:00
Silvan Fuhrer bf25d8b180 FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:54:11 +02:00
bresch 616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-05-12 13:42:09 +02:00
Silvan Fuhrer f19b81880f VTOL: adapt VT_QC_T_ALT_LOSS param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 06713cb655 VTOL: only run front transition alt loss QC if altitude is controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer c1d94c7f05 VTOL: extend front transition QC to first 5s after completing transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 0d156f84e6 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 233d901934 VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
JaeyoungLim 47e802ef92 Fix tailsitter control frames (#21573) 2023-05-10 22:33:53 +09:00
Silvan Fuhrer 951f89c8a8 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer ab71ef4447 FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Silvan Fuhrer 4cd078409d AirspeedValidator: disable innovation checks if lpos invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-08 21:46:45 -04:00
Mathieu Bresciani 1e4fcfc614 mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
Julian Oes 636c3c069f gimbal: make device ID a clear out argument 
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-08 07:06:37 +02:00