ca879192f3
boards: enable fake GPS on v5x
2023-06-09 11:55:15 +02:00
6cd29858a0
fake_ev: publish fake visual odometry on a distinct topic
2023-06-09 11:55:15 +02:00
18d94fd11e
boards: enable HIGHRES_IMU MAVLink stream on v5x
2023-06-09 11:55:15 +02:00
3e4e4b8561
ekf2_ev: do not reset learned bias
...
When ev resets without GNSS currently active, still consider the
position bias that was learned so far (GNSS fusion was maybe used in the
past and a meaningful bias was esimated).
2023-06-05 16:10:14 +02:00
4bb2c6e758
ekf2: select estimator instance manually using RC channel
2023-06-02 10:16:00 +02:00
52401ea5b8
ekf2: enable creading multi-ekf with different configs
2023-06-02 10:16:00 +02:00
c1e1026734
fake EV: add param to enable, drift and stale data
2023-06-02 10:16:00 +02:00
704bd22bc1
fake_ev: add module that publishes fake ev data based on GNSS
2023-06-02 10:15:24 +02:00
3c9108e11e
Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch
...
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:24 +02:00
25535b49d1
FW Att/Rate controller: move max attitude params to Att Controller params
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:24 +02:00
fce25e6a07
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 >
2023-06-02 10:15:24 +02:00
fa38b1ad5c
TECS: init _velocity_control_traj_generator properly
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:24 +02:00
20ab4ccaca
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.
2023-06-02 10:15:24 +02:00
a15b0d3c6a
VTOL: adapt VT_QC_T_ALT_LOSS param
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
7273398f2b
VTOL: only run front transition alt loss QC if altitude is controlled
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
d88de8ea38
VTOL: extend front transition QC to first 5s after completing transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
473be910f2
VTOL: fix transition quadchute below home
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
b17f73584d
VTOL: align setting of _tecs_running_ts on all VTOL types
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
0bddff9b79
Allow to modify uxrce_dds_client port with a env var
...
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-06-02 10:15:23 +02:00
144a5c2e14
Fix tailsitter control frames ( #21573 )
2023-06-02 10:15:23 +02:00
4a54c0cc74
FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
060c68e1b4
ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
e241874654
ROMFS: FW simulations: remove re-declaration of params to vehicle default
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
3f015dcd98
ROMFS: remove param RWTO_TKOFF from configs where only set to default again
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
6919483b4a
ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:15:23 +02:00
d7e5f2760b
px4events: handle events parsing from ROS2 code
2023-05-10 11:29:30 +02:00
589ba5589d
ROS2 sdk: add config overrides
2023-05-10 11:29:30 +02:00
f82ce63f78
ROS2: add modes SDK
2023-05-10 11:29:30 +02:00
e018bd09da
WIP commander+mavlink: implement MAVLink standard modes
...
# Conflicts:
# src/modules/mavlink/mavlink
2023-05-10 11:29:30 +02:00
66d5315e8f
commander: add config overrides
2023-05-10 11:29:30 +02:00
c99330e6db
commander: add VEHICLE_CMD_SET_NAV_STATE internal command
2023-05-10 11:29:30 +02:00
af62227a83
commander: implement external modes and mode executors
2023-05-10 11:29:29 +02:00
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
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
04c5d70588
matrix: Describe emult, edivide functions
2023-05-09 16:14:55 +02:00
4cd078409d
AirspeedValidator: disable innovation checks if lpos invalid
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-08 21:46:45 -04:00
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
da14650aa2
ads1115: Probe for reset value before init, do not spam console on device lost
2023-05-08 16:47:34 +02:00
38505c80be
update all px4board kconfig
2023-05-08 08:48:48 -04:00
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
3c45b184d3
gps: Improve the FALSE setting of the ALREADY_COPIED variable
2023-05-08 07:04:11 +02:00
ddfc2986dc
mavlink: flow control param needs reboot
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-07 21:48:27 -04:00
000a3c10e2
Add ADIS16507 params
2023-05-06 17:11:42 -04:00
b12f5c4e31
adis16507 group delay should be subtracted from timestamp_sample
2023-05-06 17:11:42 -04:00
2cef8a03d4
ARKV6X add ADIS16507
2023-05-06 17:11:42 -04:00
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
40324b03f4
fmu-v6x: pulldown on RTS not required
...
On CTS with DMA, we need the pulldown but not on RTS.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-05 02:49:25 -04:00
3cc940cb06
fmu-v6c: fix Telem1, Telem2 without flow control
...
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-05 08:02:58 +12:00
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
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
Daniel Mesham