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26065 Commits

Author SHA1 Message Date
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
Silvan Fuhrer 77d09785f3 TECS: init _velocity_control_traj_generator properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:53:32 +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
Morten Fyhn Amundsen 04c5d70588 matrix: Describe emult, edivide functions 2023-05-09 16:14:55 +02:00
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
Thomas Debrunner da14650aa2 ads1115: Probe for reset value before init, do not spam console on device lost 2023-05-08 16:47:34 +02:00
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
muramura 3c45b184d3 gps: Improve the FALSE setting of the ALREADY_COPIED variable 2023-05-08 07:04:11 +02:00
Julian Oes ddfc2986dc mavlink: flow control param needs reboot 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-07 21:48:27 -04:00
alexklimaj 000a3c10e2 Add ADIS16507 params 2023-05-06 17:11:42 -04:00
alexklimaj b12f5c4e31 adis16507 group delay should be subtracted from timestamp_sample 2023-05-06 17:11:42 -04:00
Silvan Fuhrer d2ca763d23 Navigator: set cruise_speed to default on entering new mode (#21503) 
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-05 15:53:17 +02:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
Julian Oes 1d4b66fcbc gps: use all injection data 
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 2fd3de8f45 gps: retry switching RTCM injection more often 
I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 6108b31e6a gps: reset RTCM instance 
We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.

Therefore, this change fixes the logged RTCM instance.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
David Sidrane b6f19d5e9b Added is31fl3195 LED Driver 2023-05-02 10:50:24 -04:00
David Sidrane 409c1bbf7a PX4 icm42688p:Add Support for the ICM42686 
icm42688p:Fix colission on custom1 from rebase
 2023-05-02 10:50:24 -04:00
SalimTerryLi 7eb6535273 driver/rc/crsf: fix print format for Linux platform 2023-05-01 17:36:26 -04:00
PX4 BuildBot 2a93875a5f Update submodule libevents to latest Mon May 1 12:39:12 UTC 2023 
- libevents in PX4/Firmware (406dc9b62627aec0c14df2d1e6d09b849f12487f): https://github.com/mavlink/libevents/commit/48911e7be752a908a15d945b796ed8d8282b7b02
    - libevents current upstream: https://github.com/mavlink/libevents/commit/a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35
    - Changes: https://github.com/mavlink/libevents/compare/48911e7be752a908a15d945b796ed8d8282b7b02...a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35

    a9a3fc0 2023-03-31 Beat Küng - README: update link to initial design doc
fb630b3 2023-03-30 Beat Küng - pylint: fix 'Raising too general exception' errors
72108eb 2023-03-29 flickering-light - Unused content variable fix
 2023-05-01 13:40:00 -04:00
PX4 BuildBot e8d12e26c2 Update submodule mavlink to latest Mon May 1 12:39:14 UTC 2023 
- mavlink in PX4/Firmware (487c2b03cae972f42a9fe7c397f6949fed63ca3d): https://github.com/mavlink/mavlink/commit/d6d86d3f0c90a67c275d6833931f7c712b858dba
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - Changes: https://github.com/mavlink/mavlink/compare/d6d86d3f0c90a67c275d6833931f7c712b858dba...3ee5382d0c96134b0e1c250d8c2d54bfed0166fa

    3ee5382d 2023-04-20 Peter Barker - common.xml: exclude any stored home location from MISSION_CURRENT.total (#1976)
e0f59ae2 2023-04-13 Hamish Willee - Remove WIP from gimbal device messages/commands (#1973)
181346b5 2023-04-12 Peter Barker - common.xml: remove MAV_CMD_ACK (#1972)
 2023-05-01 11:11:15 -04:00
Julian Oes 3f13a6e787 gimbal: implement gimbal_device_id 
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-01 09:02:25 -04:00
muramura b23eee40f0 bmi088: Do not use invalid values 2023-05-01 09:02:04 -04:00
Daniel Agar f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
murata,katsutoshi 4bb4bc185b commander: level calibration delete unused SENS_BOARD_ROT param access 2023-04-30 21:36:43 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 98a8d080b6 ekf2 params: fix my bad english 2023-04-28 22:31:17 -04:00
bresch 2a2e43b620 ekf2: move flow fusion activation from AID_MASK to OF_CTRL 2023-04-28 22:31:17 -04:00
bresch 39c2f95669 ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL 2023-04-28 22:31:17 -04:00
Roman Dvořák 8b4566b6bb drivers/hygrometer/sht3x: extend alert range (#21521) 2023-04-28 10:33:06 -04:00
Andrew Wilkins cdc717be53 Speed reset when switching flight modes (#21414) 
* speed reset between flight modes

* no whitespace
 2023-04-27 17:32:43 +02:00
Silvan Fuhrer bfc1e36f45 Standard: fill att_sp.thrust[0] with _pusher_thr value during transition to FW (#21520) 
Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-27 17:30:36 +02:00
Yannick Fuhrer f76399be5e vtol_type: scale VT_TRANS_TIMEOUT with air density (#21509) 2023-04-27 09:22:04 +02:00
Julian Oes 0afd93a9e9 gimbal: add control setter and status 
This adds the ability to manually set who has primary control over a
gimbal and also adds printing it as part of the status.

This is helpful, especially while working on the QGC gimbal v2
implementation.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-04-26 08:20:34 +02:00
Eric Katzfey 36877b9efc Added crosshairs to MSP OSD driver 2023-04-25 13:49:42 -04:00
Silvan Fuhrer 08782a0837 reset vroi when resetting misson on landing and run set_current_mission_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Silvan Fuhrer 55faa8cb2d mission: only run update_mission() if mission is updated, not when we want to reset 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-21 07:47:58 +02:00
Hamish Willee 51f71909d4 Update ekf2_params.c - typo EKF2 aid mask 2023-04-19 17:11:47 -07:00
Eric Katzfey 0934d3bf24 VOXL2 snapdragon spektrum rc refactor (#21427) 
* Replaced outdated snapdragon_spektrum_rc and spektrum_rc drivers with VOXL2 board specific spektrum_rc driver
 2023-04-19 11:22:43 -04:00
Eric Katzfey 018ca6b49d VOXL2 board support updates (#21426) 2023-04-19 11:21:02 -04:00