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Commit Graph
3209 Commits
Author SHA1 Message Date
David Sidrane f916aeddea PX4:comon Support BOARD_HAS_HW_SPLIT_VERSIONING 2024-03-19 05:35:30 +13:00
Silvan Fuhrer b303e9517f param translation: fix too early return false (#22729) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-07 12:41:23 +01:00
Beat Küng b0e86ba364 fix FunctionActuatorSet: if a param is set to NaN, it should be ignored 
MAVLink spec: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR
Previously, a command was overwriting all other indexes.
 2024-02-02 09:38:48 -05:00
Matthias Grob d09aa8ade5 matrix: fix slice to slice assignment to do deep copy 
To fix usage of a.xy() = b.xy() which should copy
the first two elements over into a and not act on a copy of a.
 2023-12-22 09:46:09 +01:00
Silvan Fuhrer a536e3dfe2 TECS: init control params to reasonable values 
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-08 16:26:10 +01:00
Silvan Fuhrer 5d433ddef7 TECS: make sure to constrain pitch to current min/max pitch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-08 16:26:10 +01:00
Silvan Fuhrer 5928d7f067 TECS: init to airspeed filter to trim airspeed if airspeed-less 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-08 16:26:10 +01:00
Silvan Fuhrer 740bf63fa7 TECS: set _ratio_underspeed to 0 if airspeed disabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-08 16:26:10 +01:00
Matthias Grob 6cdf09644e PositionSmoothing: fix corner altitude bug 
During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
 2023-11-10 19:32:21 +01:00
Julian Oes 2edc3cf845 lib: add variable length ringbuffer 
This adds a reusable class for a FIFO ringbuffer that accepts variable
length packets. It is using the Ringbuffer class internally.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-10 12:15:58 +13:00
Julian Oes 813494bc3d lib: add FIFO ringbuffer class 
This adds a reusable class for a simple FIFO ringbuffer.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-10 12:15:58 +13:00
Thomas Stastny 3c9c5f7184 FixedwingPositionControl: slightly simplify manual position control (use navigateLine() to be sure no turnaround) 
make notes on odd things that are likely still wrong
 2023-09-12 11:22:22 -04:00
Thomas Stastny 7c2c288c09 npfg: update signed track error state 2023-09-12 11:22:22 -04:00
bresch 61036599db mag_cal: fix mag bias estimate to mag cal 
- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
 2023-07-18 07:38:47 -07:00
Matthias Grob 9b092d6d35 Set default minimum and maximum PWM for motors 
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM

Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
 2023-07-10 19:00:52 +02:00
Matthias Grob ce8c4094a8 RateControl: allow setting individual saturation flags 
This helps for more complicated cases where certain axes are controlled
through and get feedback from a different allocator.
 2023-06-19 11:00:23 +02:00
Matthias Grob afa56d21c5 mixer_module: consistent PWM/oneshot calibration range 2023-06-16 15:48:20 +02:00
Matthias Grob 8cb7a67819 actuator_test: condition order refactoring 2023-06-16 15:48:20 +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
Morten Fyhn Amundsen 04c5d70588 matrix: Describe emult, edivide functions 2023-05-09 16:14:55 +02:00
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
Daniel AgarandPX4BuildBot 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
Eric Katzfey 73db1a02ca modal_io: add rpm unit to parameters (#21473) 2023-04-18 07:41:45 +02:00
Matthias Grob 37d3218d11 matrix: add 2d rotation matrix 2023-04-15 21:57:40 +02:00
Silvan FuhrerandThomas Stastny 8f520ab019 tecs: fix throttle prediction (#21444) 
* tecs: fix throttle prediction

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2023-04-06 20:13:32 +02:00
Silvan Fuhrer 460956fd33 TECS: revert altitude controller to old logic 
- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled

if height_rate_setpoint is set, only use that one to update altitdue trajectory

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-06 20:12:52 +02:00
Silvan Fuhrer 60cd20c19c TECS: make more readable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-06 20:12:52 +02:00
Silvan Fuhrer 2d01cf63ce TECS: rename _reference_model to _altitude_reference_model 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-06 20:12:52 +02:00
Silvan Fuhrer beeae1f673 TECS: rename TECSReferenceModel to TECSAltitudeReferenceModel 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-06 20:12:52 +02:00
Silvan Fuhrer 1f5046f165 FWPositionControl: trim throttle prediction improvements (#21345) 
* FWPositionController: add linear airspeed-to-trim-throttle mapping

Scale trim throttle in a linear way with airspeed.
Different gradients above/below trim airspeed.

The airspeed- and airs density-corrected trim throttle is required for an accurate
throttle prediction in TECS, while the default trim throttle is still needed
as well, as the throttle delta from height rate setpoint delta is linked to it.

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-06 11:56:54 +02:00
Daniel Agar 4d9369dc67 Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
bresch 6bee0893de add circle intersection unit tests 2023-03-22 10:03:48 +01:00
bresch af345c88e9 TrajMath: use fmaxf instead of max 2023-03-22 10:03:48 +01:00
bresch c7bddda1db MC auto: add maximum RC assist distance during landing 2023-03-22 10:03:48 +01:00
Matthias Grob 9f8fa99d70 matrix: use stack allocation for debug output string 2023-03-21 15:01:26 +01:00
Matthias Grob b1435c6e34 matrix: use output stream function template 
to enable proper automatic output in gtest unit tests
that compare two `Matrix`, `Vector` or two `Dual` objects.

Credits to @jwidauer for showing me this trick.
 2023-03-21 15:01:26 +01:00
Matthias Grob b0189d95af Use new Vector4 class 2023-03-21 15:01:26 +01:00
Matthias Grob 08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
Beat Küng 22c94f805a component information: add translation support 2023-03-20 21:57:25 -04:00
Silvan Fuhrer 28db47480d TECS: remove ununsed getSteRate() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer a1812dbde0 gimbal: move gimbal controls to new dedicated topic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
akkawimo bcd6e7adee comment out fake_traffic to prevent flash overflow 2023-03-16 07:32:43 +01:00
Mohamad Akkawi 9de52bb5ec [navigator] Tone Down traffic warnings 
- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
 2023-03-16 07:32:43 +01:00
Silvan Fuhrer 9a038281c5 RoverPositionController: remove some unused stuff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer feec8b2036 L1: remove some functions that Rover doesn't need 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer 76116d79f9 TECS: remove umcommanded_descent flag 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer 527225357b TECS: remove unused TECS_MODE_CLIMBOUT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer 837095b9a8 tecs: use FW_T_SINK_MIN for STE_rate_min (#21190) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 15:46:41 +01:00
RomanBapst 6e07af959f fixed bug in Matrix library 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00