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27992 Commits

Author SHA1 Message Date
Tony Cake
ba31054992
Add RSSI in dBm support, plus LQ, to GHST protocol (#24351) 2025-02-28 00:53:32 -09:00
Beat Küng
93b8bc1515 commander: add hysteresis for avionics power low/high check 
We had a setup where the voltage was right at the threshold and the check
toggled continuously.

It still triggers immediately, and then keeps for 15 seconds
 2025-02-27 22:24:28 -05:00
Eric Katzfey
5fb810a5ea voxl_esc: Added Mavlink tunnel UART pass-through mechanism 2025-02-26 18:04:34 -05:00
Eric Katzfey
d4918ea118 mavlink: updated to latest 2025-02-26 18:04:34 -05:00
Jacob Dahl
1ba9eeafd9
ekf2: silence output from symforce module check (#24384) 
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
 2025-02-26 11:23:13 -07:00
Andrew Brahim
75c0089c26
Faster than Real -Time support in GZ (#23783) 
* add rtf service to gzbridge

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

* physics before model spawn

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

---------

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-26 18:52:07 +01:00
Marco Hauswirth
84134e5123 clean up variable declaration 2025-02-26 13:48:59 +01:00
Matthias Grob
f69361f742
vtol_type: remove unused variable and function for deceleration pitch integral (#24419) 
This functionality was moved to FlightTaskTransition and the variable was forgotten in 079b756f1b79866720c76417b8edd24547894703
 2025-02-26 13:37:21 +01:00
Alexander Lerach
5d2814f6c9
dataman KConfig for persistent storage 2025-02-26 12:48:23 +01:00
Marco Hauswirth
2169ea561b
PR: add optical flow arming check (#24375) 
* add optical flow arming check

* removed deprecated mavlink_log_critical

* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.

* restructure if/else blocks
 2025-02-26 08:41:12 +01:00
Pernilla
65a80dc8e6
VTOL: Don't overwrite attitude setpoint in Stabilized transition modes (#24406) 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-25 20:06:16 +01:00
chfriedrich98
7c63468e8b mecanum: refactor code architecture 2025-02-25 17:06:17 +01:00
bresch
c09c63171c MC auto: fix land nudging 
Revert removal of isTargetModified as this is required when the target
is changed by "RC help" (nudging) during landing.
 2025-02-25 09:11:23 +01:00
Alexander Lerach
2356cb973f
Performance & testing targets 
* Added minimal configs for performance testing

* Rename recovery to performance

* added mfg_cfg

* fix params & don't inherit from default

* rename performance -> performance-test

---------

Co-authored-by: Igor-Misic <igy1000mb@gmail.com>
 2025-02-24 16:02:46 +01:00
Ted
35d96d57f9
control_allocator: Added linearization feature for 4 servo swash plates to prevent binding (#23961) 
* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding

* Apply suggestions from code review

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

* update description of CA_LIN_SERVO parameter

* update variable name

* add missing semi-colon

* fix variable referenced before assignment

* add missing indentation

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

* removed param unnecessary param

* removed whitespace

* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.

* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.

* added comment and fixed spelling mistake

* fix spelling mistake

* fix formatting

* reduce CA_MAX_SVO_THROW short description length to stop test failure

* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature

* remove NAN check.

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-24 12:17:11 +00:00
Hamish Willee
4ea7de449a
InternalCombustionEngineControl - doc corrections (#24359) 
* InternalCombustionEngineControl - doc corrections

* Update InternalCombustionEngineControl.cpp
 2025-02-21 08:34:08 +11:00
Silvan Fuhrer
24da87db12
FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN (#23877) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-20 09:28:27 +01:00
Silvan Fuhrer
29317d90c3
RPM capture: improve description of param RPM_CAP_ENABLE (#24368) 
* RPM capture: improve description of param RPM_CAP_ENABLE
---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-20 09:19:43 +01:00
Jacob Dahl
1db50cb331 mavlink: add missing fields for DISTANCE_SENSOR 2025-02-19 12:11:42 -05:00
Julian Oes
786c2a7f39
drivers/imu/invensense/mpu6000: include cstdlib for size_t 2025-02-19 12:09:54 -05:00
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