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Author SHA1 Message Date
Matthias Grob c7ef12545c mc_att_control_params: lower default roll and pitch attitude gains from 6.5 to 4 
6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems.
 2025-06-05 19:28:53 +02:00
Matthias Grob fdc4766da6 Make sure vehicle_thrust_setpoint is always published before vehicle_torque_setpoint 
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
 2025-06-05 08:46:30 +02:00
Matthias Grob 84cb748080 esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set 2025-06-04 17:11:33 +02:00
Matthias Grob 7e055656b0 uavcan esc: translate temperature field from Kelvin to Celsius 2025-06-04 16:44:16 +02:00
Matthias Grob ce9bb0dc6b multicopter defaults: use PX4 default <2g ublox GNSS dynamic model also for multirotors 
It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer.
 2025-05-27 15:27:32 +02:00
Matthias Grob a9f7f00844 batteryCheck: refine low battery reporting sevirity 
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.

Low - Critical
Critical - Critical
Emergency - Emergency
 2025-05-21 16:08:27 +02:00
Matthias Grob 30df381f0e multicopter_autonomous_params: adjust yaw acceleration and maximum rate for exclusive use with HeadingSmoothing 2025-05-21 13:25:46 +02:00
Matthias Grob a8f5b6dc1b FlightTaskOrbit: also use HeadingSmoothing to avoid steps during the approach 2025-05-21 13:25:46 +02:00
Matthias Grob 70ad2e6fe5 FlightTaskAuto: Smooth yaw follow-up, bring back necessary previous yaw setpoint and reset smoothing when yaw is not locked 2025-05-21 13:25:46 +02:00
Matthias Grob 0b3fc0a62d SIH: add Hexacopter X 
to enable easy simulation of a motor failure.
 2025-05-20 13:23:08 +02:00
Matthias Grob df65e5bced docs events_interface: fix entire paragraph being declared code by accident (#24860) 2025-05-16 08:40:21 +10:00
Matthias GrobandHamish Willee 406f0bb470 Fix cellular_status message definition (#24662) 
* msg: fix cellular_status definition

12 * Update msg/CellularStatus.msg

* cellular_status: remove confusing reference to roaming

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-05-08 15:07:11 +02:00
Matthias Grob 87db286a88 pps_capture_params: clarify description (#24641) 2025-05-07 11:15:20 +10:00
Matthias Grob 8e89906b9a docs: update link to navigator's publish_vehicle_command function 2025-04-25 15:32:47 +02:00
Matthias Grob dfed3970d4 navigator: use reference instead of pointer to pass the vehicle command to publish 2025-04-25 15:32:47 +02:00
Matthias Grob 672d228d79 navigator: fill vehicle_command with float literals and comment what they stand for 2025-04-25 15:32:47 +02:00
Matthias Grob da870c4dce navigator: refactor vcmd -> vehicle_command 2025-04-25 15:32:47 +02:00
Matthias Grob 176783dbcb navigator: clarify publish_vehicle_command() comment 2025-04-25 15:32:47 +02:00
Matthias Grob f07ddda344 navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command() 2025-04-25 15:32:47 +02:00
Matthias Grob 5f34474ecb FlightTaskAuto: clean up parameter description and internal variable naming 2025-04-25 15:32:47 +02:00
Matthias Grob 9eaec534ab mc_att_control_main: fix check for hover thrust estimate update (#24750) 2025-04-22 15:53:51 -08:00
Matthias Grob 9404783c99 EKF2: more accurate unaided yaw calculation 
to fix the yaw unlocking in StickYaw
when giving a lot of roll and pitch input
 2025-04-22 15:55:38 +02:00
Matthias Grob d514cb4903 mc_att_control: use StickYaw class for Stabilized 
to make yawing including reset and drift handling consistent with
Altitude and Position mode.
 2025-04-22 15:35:26 +02:00
Matthias Grob 174147208e Move StickYaw class into a globally available library 2025-04-22 15:35:26 +02:00
Matthias Grob fa3f255301 SIH: write out vehicle types for clarity (#24731) 2025-04-16 14:03:34 +02:00
Matthias Grob 45d7f707d7 mc_att_control: remove useless subscription 
added in 28fa044386
#19633
 2025-04-04 13:23:49 +02:00
Matthias Grob ddb9a5d0b9 gz_plugins: do not look for gz-transport12 (Gazebo garden) (#24633) 
this tries to build the plugins and breaks the SITL build if you have
Gazebo garden isntalled even if you're not trying to simulate with
Gazebo.
 2025-03-28 10:11:56 -08:00
Matthias Grob a048a8e8a0 mavlink_receiver: refactor manual_control.throttle extraction to exactly match MAVLink output 2025-03-21 11:44:51 +01:00
Matthias Grob faf4114a09 gz_bridge: add a localhost GZ_IP to avoid multicasting all messages to all networks 2025-03-18 10:52:34 +01:00
Matthias Grob 40c26e7880 17002_flightgear_tf-g2: translate FW_THR_CRUISE to FW_THR_TRIM (#24523) 
See 461d0561b8
 2025-03-17 17:18:46 +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 079b756f1b
 2025-02-26 13:37:21 +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
Matthias Grob 4c2e69b2e6 estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration 2025-01-30 18:45:10 +01:00
Matthias Grob f142363575 HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes 
Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
 2025-01-30 18:45:10 +01:00
Matthias Grob 7e47605871 batteryCheck: separate event messages for low, critical and emergency battery states 2025-01-29 15:32:47 +01:00
Matthias GrobandHamish Willee 165f644580 control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-01-27 08:43:11 +01:00
Matthias Grob c1cab2d4e0 control_allocator: add unit for slew rate and reword description 2025-01-27 08:43:11 +01:00
Matthias Grob af062c85eb Revert "FLightTaskAuto: limit nudging speed based on distance sensor" 
This reverts commit 97cb933cff.
 2025-01-21 09:59:47 +01:00
Matthias Grob f693fab7c8 rc_update params: remove comment about default static mixing 
Was added back in 2014:
7441efde47
 2025-01-17 08:18:42 +01:00
Matthias Grob e01fef755a Control allocation: make heli rpm control an optional build flag disabled by default 
to save flash.
The rpm capture dirver is also disabled on default releases
 2025-01-15 14:35:35 +01:00
Matthias Grob bc92008885 RpmControl: Better consider the case where there's no rpm measurement (anymore) 2025-01-14 14:55:34 +01:00
Matthias Grob b584f8381c Helicopter defaults: don't auto disarm so quickly after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob 5e2848312d Commander: start timer for auto disarm after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob 2506bd3b5d RpmControl: simplify the entire control logic 2025-01-14 14:55:34 +01:00
Matthias Grob 1c4325db6d RpmControl: split into cpp source file fixing includes 2025-01-14 14:55:34 +01:00
Matthias Grob 2772ae7e0e RpmControl: maximum rpm outliers are now caught by RpmCapture 2025-01-14 14:55:34 +01:00
Matthias Grob ddd410e9d8 RpmControl: remove status message because it by now only contains redundant information 2025-01-14 14:55:34 +01:00
Matthias Grob 4050cedfaf RpmControl: call local message instance after message name following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob cd0e04f8b0 RpmControl: name current timestamp now following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob 940fe45ba7 ControlAllocator: introduce helicopter rotor rpm controller 2025-01-14 14:55:34 +01:00
Matthias Grob 50092a7f67 NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged 2025-01-14 10:32:00 +01:00
Matthias Grob b042f2101f system_params: clarify SYS_HAS_MAG description 
after answering the questions:
Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?
 2025-01-08 21:24:00 -05:00
Matthias Grob 2968af7b63 Carzyflie: don't compile Navigator ADSB handling 
I forgot to stage that change in the original change:
839010eeab
 2024-12-23 21:55:08 -05:00
Matthias Grob 61961350f9 mavlink_receiver: don't publish out of range joystick input 
Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
 2024-12-19 17:59:41 +01:00
Matthias Grob 5cf85e320a offboardCheck: acceleration setpoints only require vehicle attitude control 2024-12-19 17:58:38 +01:00
Matthias Grob ad799b64b7 mc_pos_control: shorten parameter descriptions to a readable size 2024-12-19 16:12:43 +01:00
Matthias Grob 1239f0aaed FlightTaskTransition: Comment why using invalid horizontal velocity works 2024-12-19 16:00:21 +01:00
Matthias Grob 34bcc277a5 FlightTaskTransition: keep high decelration when overshooting the transition target 2024-12-19 16:00:21 +01:00
Matthias Grob 11d7dd41fd FlightTaskTransition: clean up and simplify 2024-12-19 16:00:21 +01:00
Matthias Grob 839010eeab Navigator: make ADSB handling optional 2024-12-19 15:30:34 +01:00
Matthias Grob c69f96ec04 ADSB: replace last excess hrt_absolute_time() in the loop 2024-12-19 09:35:38 +01:00
Matthias Grob 077ade4f8f Add IO timer channel mode for RPM and also sync up rpi configuration to work with all these drivers 2024-12-19 07:30:25 +01:00
Matthias Grob b85ad98a98 Use defines instead of hardcoded magic values for maximum number of output channels and rpm filter time constant 2024-12-19 07:30:25 +01:00
Matthias Grob 8ce6ad6662 camera_capture: refactor to simplify capture channel initialization 2024-12-19 07:30:25 +01:00
Matthias Grob 267fa06da8 RPMCapture: fix copyright year, improve comments 2024-12-19 07:30:25 +01:00
Matthias Grob f4c8e0e35f RPMCapture: fix dt should not have a minimum which would limit to 6000rpm 2024-12-19 07:30:25 +01:00
Matthias Grob b7b384ab2e RPMCapture: add back filter reset on timeout 2024-12-19 07:30:25 +01:00
Matthias Grob d027f8bf39 RPMCapture: publish outliers in rpm message but don't update the filters and estimate 2024-12-19 07:30:25 +01:00
Matthias Grob 9ca06be4f5 RPMCapture: refactor to clarify scheduling 2024-12-19 07:30:25 +01:00
Matthias Grob c406e0a3a2 RPMCapture: refactor to clarify when an interrupt happened 2024-12-19 07:30:25 +01:00
Matthias Grob ec4ed75264 RPMCapture: define period as UINT32_MAX when timed out 2024-12-19 07:30:25 +01:00
Matthias Grob 825dc47fad RPMCapture: fix pulses per revolution parameter name, description, type -> use module params 2024-12-19 07:30:25 +01:00
Matthias Grob 6241db74db mavlink: stream RAW_RPM message for ONBOAR_LOW_BANDWIDTH 2024-12-19 07:30:25 +01:00
Matthias Grob 8486f74b2a RPMCapture: much better timeout scheduling 
Not timing out based on a random interval but based
on the time after the last inerrupt.
 2024-12-19 07:30:25 +01:00
Matthias Grob c463cc42d0 RPM: clean up message 2024-12-19 07:30:25 +01:00
Matthias Grob a60591378c RPMCapture: switch to PublicationMulti to be compatible with the existing rpm drivers 2024-12-19 07:30:25 +01:00
Matthias Grob 41b55724bc RPMCapture: Detect rpm sensing timeout 2024-12-19 07:30:25 +01:00
Matthias Grob 1bcdb3ef8c RPMCapture: add hardcoded rpm processing 
Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
 2024-12-19 07:30:25 +01:00
Matthias Grob ef823e5bb1 gz submodule: switch to hash on submodule main branch 
after https://github.com/PX4/PX4-gazebo-models/pull/71 was merged
 2024-12-18 18:06:37 +01:00
Matthias Grob d5c9ea048e LidarLitePWM: refactor static cast and comment 2024-12-12 13:50:17 +01:00
Matthias Grob 5010b01e2e PCF8583: refactor 1e6f for 1000000.f 2024-12-12 13:50:17 +01:00
Matthias Grob cbde9729e8 Airframes: remove unnecessary double newlines 2024-12-12 13:50:17 +01:00
Matthias Grob d416cd2a6c Commander: remove COM_POS_FS_DELAY 
A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
 2024-12-03 17:31:56 +01:00
Matthias Grob 7dcfeb2f77 PositionSmoothing: refactor _getMaxZSpeed() 2024-12-02 14:52:31 +01:00
Matthias Grob 092e5e8f9d TrajectoryConstraints: clarify waypoint indexing 2024-12-02 14:52:31 +01:00
Matthias Grob ce3fcd503f navigator: unify timeout waiting for payload to execute mission item command 
Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
 2024-11-28 20:23:36 +01:00
Matthias Grob 17c24bafbc mission_block: simplify timeout check 2024-11-28 20:23:36 +01:00
Matthias Grob ec1cf04bc9 mission_block: fix style, shorten debug message strings 2024-11-28 20:23:36 +01:00
Matthias Grobandchfriedrich98 a280d67be8 PID: Fix test to respect integral updates being applied in the next iteration 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grobandchfriedrich98 f9bcbc31ae PID: protect from division by zero because of dt 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grob b89c53d28c Replace old pid library with new one 2024-11-26 16:13:48 +01:00
Matthias Grob e047972cde Add new C++ PID library 2024-11-26 16:13:48 +01:00
Matthias Grob 044d13635d Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID" 
Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
 2024-11-21 11:38:23 +01:00
Matthias Grob bbc59dcde7 CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message 2024-11-21 11:36:03 +01:00
Matthias Grob 1410325c62 CollisionPrevention: follow parameter variable naming convention 2024-11-21 11:36:03 +01:00
Matthias Grob 30eec33e09 CollisionPrevention: slightly simplify _transformSetpoint() 2024-11-21 11:36:03 +01:00
Matthias Grob 399a8ad5b7 CollisionPrevention: fix early return and use unified bin count + array size 72 2024-11-21 11:36:03 +01:00
Matthias Grob 61d999073b Remove FlightTaskManualPositionSmoothVel 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
 2024-11-21 11:36:03 +01:00
Matthias Grob 2ef2911c36 Remove FlightTaskManualPositionSmoothVel 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
 2024-11-21 11:36:03 +01:00