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17071 Commits

Author SHA1 Message Date
bresch
c9221b91ad ekf2: fix gnss yaw unit test 2024-03-20 14:04:19 +01:00
Drone-Lab
37caddedbb
navigator: update mission after changing home position (#22834) 2024-03-20 08:37:19 +01:00
Hamish Willee
95627ea098
SMART_BATTERY_INFO to BATTERY_INFO (#22875) 
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024

    - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): c4a5c49737
    - mavlink current upstream: a3558d6b33
    - Changes: c4a5c49737...a3558d6b33

    a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090)
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919)
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082)
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089)
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079)
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085)
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY -  (#2086)
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081)
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078)
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070)
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067)
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074)

* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module

* Update src/modules/mavlink/streams/BATTERY_INFO.hpp

* fix trivial whitespace

---------

Co-authored-by: PX4 BuildBot <bot@px4.io>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2024-03-20 11:33:37 +13:00
bresch
2e6dd243af mpc: add possibility to generate tilt using full 3D accel 
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
 2024-03-19 12:29:34 -04:00
muramura
32aa3263a6 EKF: Change a typo 2024-03-18 10:29:44 +01:00
Beat Küng
70346a5b2f failsafe: set cause to generic when fallback mode is activated 
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
 2024-03-15 14:06:58 +01:00
Silvan Fuhrer
da39d075ac Commander enums: shorten failsafe event messages 
Such that the focus is on the important keywords.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer
6e15dd5328 Commander: trigger warning when arming denied due to check failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:34:11 +01:00
Silvan Fuhrer
d330d47495 EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid 
Helps to reduce spamming of less important warnings.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:56 +01:00
Silvan Fuhrer
6d8273483c Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:41 +01:00
bresch
7c6ecd95a8 mc_wind_estimator_tuning: optionally use GNSS velocity 
Sometimes GNSS is logged but not used
 2024-03-14 21:06:24 +01:00
bresch
b2f1122372 ekf2: remove old yaw 321 and 312 derivations 2024-03-14 11:33:45 -04:00
bresch
ee63f3e664 update change indicator 2024-03-14 11:33:45 -04:00
bresch
e3f67d5c1a ekf2: new yaw derivation 
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
 2024-03-14 11:33:45 -04:00
Silvan Fuhrer
6373d8d243
commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first (#22887) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-14 16:30:06 +01:00
Eric Katzfey
ae947513d7
add load_mon support for Qurt platform (#22883) 
- Added check in commander to see if CPU load monitoring has been disabled before signalling overload
 2024-03-13 21:33:58 -04:00
Daniel Agar
a1cce7e961 uxrce_dds_client: optimizations and instrumentation 
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
 2024-03-12 16:22:26 -04:00
Daniel Agar
b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely 
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
 2024-03-12 16:22:26 -04:00
Silvan Fuhrer
9f4ae0a85d
vtol: only publish generic warning through mavlink to safe flash (#22870) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-12 13:27:13 +01:00
Silvan Fuhrer
00cc68baa1
Commander: make low remaining flight time configurable and fix clearing condition (#22863) 
* Commander: make low remaining flight time configurable and do not clear

- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low

* battery check: add hysteresis for declaring battery_low_remaining_time false again


---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
 2024-03-12 12:56:01 +01:00
Silvan Fuhrer
7fe5ee64fe rtl_direct: fix on_inactive() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-12 11:27:49 +01:00
Silvan Fuhrer
7f370ac6df Tiltrotor: disable MC yaw fade out during front transition blending 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-12 11:26:07 +01:00
Thomas Stauber
1ad83a8002
mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame (#22866) 2024-03-11 19:49:11 -04:00
Konrad
c5fde63440 mission: The mission check on activation should only be performed for a mission, not RTL. 
We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.
 2024-03-11 17:08:56 +01:00
Silvan Fuhrer
cb8520427c rtl direct: fix setting of previous altitude (abs vs rel) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-11 14:04:02 +01:00
Silvan Fuhrer
86c074378f rtl_direct_mission_land: fix abs/rel usage of item.altitude 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-11 14:04:02 +01:00
Konrad
e9fda548fa rtl_direct: Rtl estimate only needs valid destination, not home position 2024-03-11 14:04:02 +01:00
Konrad
91d1342f20 rtl_direct_mission: rtl_estimate for fixedwing land is diagonal 2024-03-11 14:04:02 +01:00
Konrad
89844625b4 rtl: reduce time estimate calculations 2024-03-11 14:04:02 +01:00
Konrad
fde71cd15e rtl_direct_mission_land: add time estimation for RTL mission land 2024-03-11 14:04:02 +01:00
Konrad
14e4169473 rtl_direct: Move the time estimation calculation into a separate helper class 2024-03-11 14:04:02 +01:00
KonradRudin
8dcfcf5b9e
mission_base: land_start_item invalid only when negative. (#22856) 
rtl: land_start_item invalid only when negative.

Update src/modules/navigator/rtl.cpp
 2024-03-11 09:46:16 +01:00
Eric Katzfey
57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815) 
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2024-03-08 16:28:24 -05:00
Silvan Fuhrer
85a882e1ce
FW Position Control: control_backtransition(): always track line from start (#22853) 
Remove option to track from previous wp to reduce complexity and fix
case where prev=current point and the line following broke down.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-08 19:11:08 +01:00
Konrad
04099ed483 mission_base: Force mission validity check on activation 2024-03-08 17:26:04 +01:00
Konrad
1aa26a5a91 missionFeasibilityChecker: Fix tests 2024-03-08 17:26:04 +01:00
Konrad
acd750e033 mission_base: Run feasibility checker only after first global position has been published 2024-03-08 17:26:04 +01:00
Konrad
6c6142ba79 MissionFeasibiltyChecker: Do not delete uorb data on reset. 2024-03-08 17:26:04 +01:00
Konrad
fb3aab1fb0 mission_base: check mission feasibility again, if geofence has changed. 2024-03-08 17:26:04 +01:00
Konrad
1b03ac4d2b mission_base: Only run mission feasibility if the geofence module is ready 2024-03-08 17:26:04 +01:00
Konrad
815cea2abb geofence: publish status of loaded geofence 2024-03-08 17:26:04 +01:00
Konrad
51321c605e mission_base: clean up mission check evaluation 2024-03-08 17:26:04 +01:00
Konrad
a0ae073d8c mission_base: Do not initialize mission from dataman. only listen on mission topic 2024-03-08 17:26:04 +01:00
Silvan Fuhrer
7884e0a3f7
Navigator: remove vtol_takeoff special handling for RTL (#22844) 
We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-08 11:40:14 +01:00
Silvan Fuhrer
f799141a19
FW Pos Controller: do not publish roll angle constrained warning if landed (#22850) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-08 09:40:43 +01:00
bresch
0d0978b3b9 ekf2: update change indicator 2024-03-07 11:06:31 -05:00
bresch
0639f5370c ekf2: fix mag and wind covariance prediction 2024-03-07 11:06:31 -05:00
bresch
2bacb4b65d ekf2: update change indicator 2024-03-07 15:11:47 +01:00
bresch
421f13e4b5 ekf2: fix joseph covariance update for Schmidt-Kalman filter 
If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
 2024-03-07 15:11:47 +01:00
Silvan Fuhrer
1e253a9626
VTOL: treat Descend mode as Land (#22843) 
* vtol_type: enable pusher assist also in Descend mode

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

* vtol_type: treat Descend as Land for pusher assist

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-07 10:22:25 +01:00