This adds a parser for Unicore sentences sent in-between NMEA sentences.
This brings support for the Unicore UM982 module which publishes heading
information based on the two antennas.
Signed-off-by: Julian Oes <julian@oes.ch>
It turns out that when you rotate by 45 degrees, as required on the
CubeOrange+, then you can easily get into clipping because the vector
components are constrained after the rotation. In order to avoid that,
we have to avoid getting close to the int16 range and switch from 20 bit
resolution to 16bit resolution earlier.
Signed-off-by: Julian Oes <julian@oes.ch>
- always publish esc_status
- when enabled via MODAL_IO_VLOG param, enable actuator debug output
- for modal_io commands, use ESC HW ID values instead of motor number for easier use
- publish esc_status message for command line commands
- Uncommented the code that fills in the cmdcount and power fields in the esc_status topic
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Co-authored-by: Travis Bottalico <travis@modalai.com>
- vectornav library (libvnc) fixed for NuttX
- open serial port O_NONBLOCK (like __APPLE__)
- set serial port baud rate with cfsetspeed (like __APPLE__)
- vectornav backend thread increase stack and run at higher priority (SCHED_FIFO)
* Cyphal: fix comparing floating-point issue
* Cyphal: fix setpoint serialization
* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications
* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode
* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT
* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval
* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub
* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers
* Cyphal: fix SubscriptionManager: we should take care about prefix
* Cyphal: fix readiness for test motor mode
* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config
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Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
- new FIFO_RESET state used to give the sensor more time after successful configuration before sampling begins
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
- update motor mapping to use new UART_ESC_FUNC* auto generated params
- add support for actuator_test msg to support Actuator Testing in QGC
- modalai_fc-vX targets start driver if configured
- keep track of ESC spin direction in own param
- set ramp up param in MixerOutput to false
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
- PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
- currently doesn't do much other than allow you to build px4 msgs interface package
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
Before, the logic to update disarm and rate values also triggered during
bootup on the px4io, because the output functions are only set in
updateSubscriptions().
Therefore change the check to prevent updating during the first cycle.
Julian Oes