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c13726af66e73d5664d158e8824ff8287e4f1b70
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14995 Commits

Author SHA1 Message Date
Silvan Fuhrer c13726af66 Enable DO_SET_SPEED commands outside of missions in other AUTO modes (#18834) 
* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle

* Navigator: reset cruise speed and throttle to default when VTOL-transitioning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 11:19:02 +01:00
Yannick Fuhrer 26ea70e729 Airspeed selector: fix condition for messaging (#19173) 
Change warning message after airspeed failure on the ground, 
recommend RTL only if flying.
 2022-02-15 17:23:36 +01:00
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
 2022-02-15 14:56:57 +01:00
Silvan Fuhrer 374bcb105a RTL: fill loiter radius in state Climb (#19165) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-15 14:50:14 +01:00
Daniel Agar 5370733d62 ekf2: publish flow vel only if compensated flow is available 
- fix a few publication timestamp_samples
 2022-02-14 10:55:10 -05:00
Daniel Agar b157afde6a ekf2: prefer airspeed_validated over raw airspeed if available (#19159) 
* ekf2: prefer airspeed_validated over raw airspeed if available

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 15:37:29 +01:00
Silvan Fuhrer df0e402c44 CA: refactor logic for matrix updating 
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
  -config changes (parameter)
  -motor failure detected or certain redundant motors are switched off to save energy

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-14 09:23:10 +01:00
PX4 BuildBot 41e48435c9 Update submodule mavlink to latest Sat Feb 12 12:38:48 UTC 2022 
- mavlink in PX4/Firmware (9457e7b25c4fa51f5ccc0bd887760e910926ba8a): https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/4b0558d0d10efbdd550cb5321d56f6a611d0ab14
    - Changes: https://github.com/mavlink/mavlink/compare/311eee010bb82f5fb2e4e0f64f7961a83212b003...4b0558d0d10efbdd550cb5321d56f6a611d0ab14

    4b0558d0 2022-02-11 Andrew Tridgell - added CANFD_FRAME and CAN_FILTER_MODIFY messages
7f032afe 2022-02-10 Daniel Agar - Apply suggestions from code review
9379a601 2022-02-06 Andrew Tridgell - common: added MAV_CMD_CAN_FORWARD and CAN_FRAME
 2022-02-12 13:16:42 -05:00
Silvan Fuhrer 2eba1847fd HTE: add new parameter HTE_THR_RANGE to define range of estimated thrust 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
Silvan Fuhrer 34805e43fd HTE: remove unused method setMeasurementNoiseStdDev() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-11 17:04:14 +01:00
bresch 493e35b72e ekf_terr: reset rng fault when on ground 2022-02-11 10:57:45 -05:00
bresch 502ec7ef46 ekf_terr: fix unit test 
the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
 2022-02-11 10:57:45 -05:00
bresch 2fb7b35a8b ekf2_terr: refactor terrain estimator - flow aiding 2022-02-11 10:57:45 -05:00
bresch 33fd1849e0 ekf2_terr: refactor terrain estimator - rng aiding 2022-02-11 10:57:45 -05:00
bresch 5818974f0f ekf: add range finder "faulty" status 
When delclared faulty, the range finder cannot be used anymore
 2022-02-11 10:57:45 -05:00
bresch a3b2550f07 mc_auto: only check for offtrack, infront and behind in XY-plane 
This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
 2022-02-11 16:14:48 +01:00
Daniel Agar 97a75fc388 sensors: skip selection and failover checks during parameter update cycles 2022-02-10 09:31:23 -05:00
Beat Küng b6607a7b78 battery_status: do not publish if no voltage channel is defined 
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.

An alternative would be to not run battery_status depending on config.
 2022-02-09 16:54:45 -05:00
Silvan Fuhrer 81b08a0168 FW Pos C: set position_sp type to position during VTOL backtransition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
PX4 BuildBot 33ce1b9b64 Update submodule mavlink to latest Wed Feb 9 00:39:13 UTC 2022 
- mavlink in PX4/Firmware (ed8c1dca2e792e95d9ab1ba72a22bc9658f10b79): https://github.com/mavlink/mavlink/commit/51abf3c82b3d7137406459dc9b337e57637711ae
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/311eee010bb82f5fb2e4e0f64f7961a83212b003
    - Changes: https://github.com/mavlink/mavlink/compare/51abf3c82b3d7137406459dc9b337e57637711ae...311eee010bb82f5fb2e4e0f64f7961a83212b003

    311eee01 2022-02-04 Peter Barker - common.xml: deprecate SET_HOME_POSITION message (#1791)
63d62522 2022-02-02 Julian Oes - minimal: add MAV_TYPE_WINCH (#1789)
 2022-02-08 21:50:55 -05:00
Daniel Agar 86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Steve Nogar dce067df83 add configurable rtps rate parameter 2022-02-08 19:03:20 +01:00
Daniel Agar 133fe0cfb1 local_position_estimator: move to INS0 work queue (for significantly more stack) 2022-02-08 11:16:49 -05:00
Julian Oes 490a0c473b Rename vmount to gimbal 2022-02-07 19:21:15 -05:00
Julian Oes 853047c643 Mantis: use gimbal auto input 
This allows RC and mavlink gimbal v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes 39f0e97245 vmount: refactor for v2 auto input, test command 
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.

The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
  parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
  polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
  rather than only the v2 input.
 2022-02-07 19:21:15 -05:00
Julian Oes f2216dff55 mavlink: don't send gimbal_device_attitude_status 
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
 2022-02-07 19:21:15 -05:00
Julian Oes 7e7a99b542 mavlink: handle for GIMBAL_DEVICE_ATTITUDE_STATUS 
That way we can log it later.
 2022-02-07 19:21:15 -05:00
Daniel Agar f9d87fd97a sensors/vehicle_angular_velocity: improve error handling (especially during initial selection) 2022-02-07 12:47:02 -05:00
Thomas Debrunner b4087ebd2b mc_pos_control: increase the default crawl speed for three-stage-landing approach for a more robust landing detection 2022-02-04 21:56:20 -05:00
Matthias Grob 4ef8cead3d mc_pos_control_params: correct crawl speed reference 2022-02-04 21:56:20 -05:00
Matthias Grob 1df9d6fca6 MulticopterLandDetector: fix crawl speed parameter fetching 2022-02-04 21:56:20 -05:00
Thomas Debrunner fb8b9b647a land-detector: switch to crawl speed for intent detection 2022-02-04 21:56:20 -05:00
Thomas Debrunner 2a6d9bc1dd fligh-mode-manager: First implementation of a three-stage-landing for multirotos, in case LIDAR is available 2022-02-04 21:56:20 -05:00
Daniel Agar 893cdf8f38 ekf2: test external vision adjustments after lowering fake position fusion variance 2022-02-04 21:48:32 -05:00
Daniel Agar 6b1750d8be ekf2: lower fake position observation variance when at rest 2022-02-04 21:48:32 -05:00
Daniel Agar cf3db0d313 mavlink: don't send_mission_current if mission invalid 2022-02-04 09:40:25 -05:00
Silvan Fuhrer 26dba1407b Commander: VTOL quadchuate also triggers a RTL in Loiter and VTOL_Takeoff modes, not just in Mission (#19123) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-03 14:18:28 +01:00
JaeyoungLim f82c722653 Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
bresch 917910f3e2 ekf: pass a float by copy instead of a constant ref 2022-02-02 17:43:25 -05:00
bresch 3077f27821 ekf: use float instead of Vector2f for innov gate in pos/vel fusion 
We always use the same innovation gate for X and Y anyway
 2022-02-02 17:43:25 -05:00
Daniel Agar 5fb0084524 ekf2: remove unused shared fields for last velocity observation and variance 2022-02-02 17:43:25 -05:00
Daniel Agar 8a0581516c ekf2: don't store _auxvel_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 452b5e94b4 ekf2: don't store _drag_sample_delayed 2022-02-02 17:43:25 -05:00
Daniel Agar 138ff7a316 sensors: ensure that best accel/gyro is in bounds 2022-02-02 17:14:46 -05:00
Daniel Agar 07c273fc31 sensors/vehicle_angular_velocity: print full sensor_selection if device id not found 2022-02-02 17:14:46 -05:00
Jaeyoung Lim 2fc95bb369 Rebase fix 
Use getnavspeed_2d for groundspeed
 2022-02-02 17:16:19 +01:00
Jaeyoung Lim 3a9c5c3178 Use acceleration to pass path curvature 2022-02-02 17:16:19 +01:00
Jaeyoung Lim e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00