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Author SHA1 Message Date
Beat Küng
b96b4fb68d ci: run ROS humble + jazzy for translation node 2025-02-11 13:19:25 +01:00
Beat Küng
5a2fc5ef79 ci: check if a versioned .msg file is changed, a new version is added as well 2025-02-11 13:19:25 +01:00
Beat Küng
947cc7bcbe ci: run unit tests for ros translation node 2025-02-11 13:19:25 +01:00
Beat Küng
f6bfa9812e msg: add message translation node for ROS 2025-02-11 13:19:25 +01:00
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
alexklimaj
8576b49e49 make format: ignore libuavcan 2025-02-10 21:18:15 -05:00
Alexander Lerach
047578a844
Disarm PWM ESCs before reboot 2025-02-10 18:16:48 +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
Alexander Lerach
fd175d619c
boards/modalai/voxl2/target: remove trailing spaces, consistent tabs/spaces in files 2025-02-06 23:43:34 -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
Junwoo Hwang
de650cab9e
boards/matek/h743-slim: change parameter path to MicroSD 2025-02-05 13:09:02 -05:00
Daniel Agar
bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
alexklimaj
0faec9b3e7 boards: ARK Flow MR 2025-02-04 22:00:14 -05:00
Hamish Willee
9e5cfa330a Commander: Quick calibration supports mag too 2025-02-04 21:58:03 -05:00
Peter van der Perk
64d8f9a3c6 cmake: for vscode launch fallback to gdb-multiarch 
Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead
 2025-02-03 23:12:30 -05:00
Jacob Dahl
90a806f5f8
ark: v6x: update net config (#24281) 
* ark: v6x: disable net binary config, update default net config

* added back CONFIG_IPCFG_BINARY=y

---------

Co-authored-by: Alex Klimaj <alex@arkelectron.com>
 2025-02-03 10:10:02 -07:00
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
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
Sam 3 Firestorm
1eb9d05f69
Gazebo classic: report correct limits for H480 gimbal yaw (#24269) 2025-01-29 18:37:00 +01:00
Balduin
96105cacc0 SIH airframes: clean up configs 
- set SIH_L_ROLL that agrees with CA_* rotor geometry
 - remove unnecessary params & comments
 - clarify that ailerons are single channel
 2025-01-29 16:22:43 +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
Silvan Fuhrer
58d3e1ea8e
test: in VTOL integration test use VTOL_LAND (#24261) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-28 11:22:51 +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
Peter van der Perk
92b1f51623 tropic: Fix runtime error on new GCC 2025-01-27 14:20:16 -05:00
Peter van der Perk
dc3f6a1608 fmu-v6xrt: Fix runtime error on new GCC 
New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized.
This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function
 2025-01-27 14:20:16 -05:00
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