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Author SHA1 Message Date
Silvan Fuhrer
ccef260f10 FW Pos Control: add in_takeoff_situation argument to adapt_airspeed_setpoint() 
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-13 11:26:03 -04:00
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
7316d50555 FixedwingPositionControl: revise navigateLine(), navigateBearing() and naivgatePathTangent() briefs 2023-09-12 11:22:22 -04:00
Thomas Stastny
97112a7d20 FixedwingPositionControl: forgot to rename input args in navigateWaypoints() declaration 2023-09-12 11:22:22 -04:00
Thomas Stastny
cd9fd12e91 FixedwingPositionControl: reuse line() and waypoint() methods in navigateWaypoints() method 2023-09-12 11:22:22 -04:00
Thomas Stastny
a3f1f0e846 FixedwingPositionControl: split out single waypoint following method 
makes more clearly defined interfaces and behaviors. also cleaned up the controlAutoPosition() method
 2023-09-12 11:22:22 -04:00
Thomas Stastny
37015c3dbe FixedwingPositionControl: track single point when no prev point exists for waypoint following 
make sure correct local position setpoint output is logged
 2023-09-12 11:22:22 -04:00
Thomas Stastny
7160da741d FixedwingPositionControl: correct navigation method param description typos 2023-09-12 11:22:22 -04:00
Thomas Stastny
db48b04281 FixedwingPositionControl: follow (infinite) lines instead of waypoints during takeoff and landing 2023-09-12 11:22:22 -04:00
Thomas Stastny
da8dcc4942 FixedwingPositionControl: handle degenerate tangent setpoint in navigatePathTangent() 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
Thomas Stastny
30870e50c0 FixedwingPositionControl: fix / clarify navigate waypoint logic 2023-09-12 11:22:22 -04:00
Julian Oes
28b018f9bd px4_fmu-v5_test: save flash by disabling fixedwing 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes
3896df3e72 mavlink: improve readability 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-09-12 11:22:04 -04:00
Julian Oes
56fcabf0b1 mavlink: Support voltages > 65v in battery status 
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes
7b60737f9a mavlink: fix BATTERY_STATUS extension 
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.

The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes
440165809a 6x: fix internal mag rotation 
From looking at the history the BMM150 rotation was initially 0. Then,
this was changed to 6 when the intent was to only change it for Skynode.

A bit later, the rotation was changed back to 0, but only for Skynode.

This tells me that rotation 0 was correct for all 6X including Skynode
all along.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 21:26:59 +12:00
Peter van der Perk
d9fd67be3b [BACKPORT] MR-CANHUBK3 ADAP board support, add ADC support 2023-09-07 19:10:10 -04:00
alexklimaj
3cf205c4a6 ARKV6X update rev 2 heater default temp id 2023-09-05 13:09:45 -04:00
alexklimaj
d54e488288 Add IIM42653 and ARKV6X Rev 2 2023-09-05 13:09:45 -04:00
Matthias Grob
70081652fe Tools/auterion: add Skynode upload scripts (#21842) 2023-08-21 18:16:37 +02:00
Daniel Agar
61bfa4fdc5 gitmodules update NuttX branch name 2023-08-15 21:15:48 -04:00
David Sidrane
3c94a447d6 NuttX with NXP Backports & DEBUGASSERT & Soket CAN fix 
This is the same jump off point as main and release/1.14
  with several NXP arch backports, 2 Commit fixing bad DEBUGASSERT
  logic and a  Soket Can change.
 2023-08-15 21:15:48 -04:00
Christian Rauch
44805b9e62 skip SSH key check for simpler builds in the Docker container 2023-08-14 10:45:16 -04:00
Christian Rauch
c5fc5c83d2 pca9685_pwm_out: add parameter PCA9685_RATE to set update frequency 2023-08-08 12:49:21 -04:00
Christian Rauch
ac1a157740 remove unused debug.h 2023-08-08 12:49:21 -04:00
Christian Rauch
8af893348a BMI0xx: remove unused board_dma_alloc.h 2023-08-08 12:49:21 -04:00
Christian Rauch
251e24bccb ADIS16497: replace NuttX specific up_udelay with HAL version px4_udelay 2023-08-08 12:49:21 -04:00
Christian Rauch
fc80b09c84 enable common barometer, IMU and magnetometer 2023-08-08 12:49:21 -04:00
Daniel Agar
5359fe59e5 Jenkinsfile-compile fix invalid boards v1.14.0-rc1 2023-07-24 10:59:44 -04:00
Daniel Agar
24603589d2 Jenkinsfile-compile board updates 2023-07-18 13:53:14 -04:00
Beat Küng
4b70105583 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:12:20 -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
bresch
eb23779c57 ekf2 - preflt checks: scale flow innovation checks 
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
 2023-07-17 11:13:43 -04:00
bresch
a07b8c08ab ekf2: report dist bottom also when using flow for terrain 
Terrain height can be estimated using a range finder and/or optical flow
 2023-07-17 11:13:43 -04:00
alexklimaj
36ec1fa811 Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground 2023-07-17 11:13:43 -04:00
alexklimaj
694501b782 Apply code review changes from @dagar 2023-07-17 11:13:43 -04:00
Eric Katzfey
7dd8e3f614 Removed the huge HAGL fuse timeout increase 2023-07-17 11:13:43 -04:00
Eric Katzfey
fe335344e7 Cleaned up some comments and debug code 2023-07-17 11:13:43 -04:00
mjturi-mai
343c7fcd52 actual fixes for velocity estimate errors and bad rng fusion 2023-07-17 11:13:43 -04:00
Loic Fernau
66df5c1bd1 drivers: rework NXP UWB driver (#21124) 
* UWB driver rework that uses 2 UWB MKBoards - 1 as Controller (Initiator), one as Controllee (Anchor)

Co-authored-by: NXPBrianna <108274268+NXPBrianna@users.noreply.github.com>
 2023-07-12 11:49:40 -04:00
Ramon Roche
090f929659 drivers/barometer/invensense/icp201xx: increase delay after configuration (#21765) 
- fixes wrong altitude reporting
 2023-07-11 20:20:13 +02:00
alexklimaj
89b238f094 Revert "rover_pos_control: thrust normalization for joystick input (#20885)" 
This reverts commit 22f7d913bd1f6f9c0500d22435d9148bc5e0fab5.
 2023-07-11 08:26:09 -07:00
Matthias Grob
ecd1e9f730 rc_update: fix on-off-switch with negative threshold values 2023-07-11 15:59:19 +02:00
Junwoo Hwang
cca59843cc
netman: fix line too long (#21829) 
Signed-off-by: Julian Oes <julian@oes.ch>
Co-authored-by: Julian Oes <julian@oes.ch>
 2023-07-11 00:07:43 +02:00
Matthias Grob
1806a7cec8 drv_pwm_output: remove unused PWM_ defines 2023-07-10 19:00:52 +02:00
Matthias Grob
856b2e6178 UUV: stop motors when commanding zero speed 2023-07-10 19:00:52 +02:00
Matthias Grob
e0e5b38c0e Boats: stop motors when commanding zero speed 2023-07-10 19:00:52 +02:00
Matthias Grob
d0d113405a Rovers: stop motors when commanding zero speed 2023-07-10 19:00:52 +02:00
Matthias Grob
4ff03e4a06 TiltrotorVTOL: allow stopping front tilted motors in fast forward flight 2023-07-10 19:00:52 +02:00