cd2170deea
ekf2-origin: backcompute based on lpos validity
2024-08-28 11:02:26 +02:00
130fefb1e7
ekf2: initialize origin from corrent position when possible
2024-08-28 11:02:26 +02:00
af752536b9
ekf2: extract setting origin from current lat/lon/alt
...
This is not only needed when GNSS is available but also for other global
sources of position (e.g.: aux global pos and manual pos updates)
2024-08-28 11:02:26 +02:00
9169a7c5fc
ekf2: split horizontal and vertical origin reset
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Allow partial resets (only lat/lon or only altitude)
2024-08-28 11:02:26 +02:00
f3d58cdf10
ekf2: resetFlowFusion() pass flowSample by const ref
2024-08-27 10:38:17 -04:00
6c24413888
ekf2: filter flow vel (used for flow velocity reset)
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- individual flow samples can be quite erratic
2024-08-27 10:38:17 -04:00
5ff4eea870
[AUTO COMMIT] update change indication
2024-08-27 16:16:55 +02:00
ac48b8b51d
ekf2: mag declination fusion always if there is no aiding
2024-08-27 16:16:55 +02:00
2a9e205442
ekf2: fuseDeclination respect mag update_all_states
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- when both mag_hdg/mag_3d are inactive we should be able to continue
updating mag without any possible impact on other states
2024-08-27 16:16:55 +02:00
9d57a3c02f
ekf2: split resetMagCov() and skip mag reset if negligible change
2024-08-27 16:16:55 +02:00
bbcf741e9e
ekf2: make mag control responsible for WMM
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- this further untangles mag control (which requires the WMM) from GPS
2024-08-27 16:16:55 +02:00
be4d0d351c
ackermann: add speed waypoint support and fix delay detection ( #23572 )
2024-08-27 13:35:48 +02:00
f67eb6989d
mavlink: Fix ESC_STATUS sending for batches > 1
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The indexing was wrong for esc_status sending for ESCs 4->
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2024-08-26 15:06:55 -04:00
ca47f6f016
lib/mixer_module: added a constant instance start so that when instance start is changed in actuator yaml files they parameters are able to be used ( #23616 )
...
Co-authored-by: Luca Scheuer <luca.scheuer@iq-control.com >
2024-08-26 14:51:09 -04:00
a75db1286d
logger: automatically limit buffer size to largest available free chunk (NuttX only)
2024-08-26 13:24:39 -04:00
9183c479a5
ekf2: correctly compute vel variance from flow variance
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Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com >
2024-08-26 11:28:36 -04:00
1a4e8a7341
FLOW: PARAM: GCS Parameter readability
2024-08-26 16:09:21 +02:00
510d3cfb39
gz: Fix endless wait for gazebo on different worlds ( #23613 )
...
Co-authored-by: your-sudden-death <noreply@pm.me >
2024-08-24 17:15:41 +02:00
ebbb880e92
ekf2: always use corrected accel/gyro for filtered metrics
2024-08-23 17:35:59 -04:00
56560726d3
ekf2: sensor simulator fix GPS replay scaling
2024-08-23 14:35:05 -04:00
d7b165991f
cmake: relax git tag requirements
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- default to v0.0.0 if tag isn't available
- src/lib/px_update_git_header.py use same PX4_GIT_TAG as cmake
- update lingering master branch references to main
2024-08-23 12:05:34 -04:00
54f7b58007
Commander: lock down mav sys and comp id
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- keeps them as local params at init
- only allow to set at init
2024-08-23 11:19:25 -04:00
1a0f97ebbd
ekf2-fake pos: add valid fake position fusion
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This is similar to fake pos but is only used when the ekf has an
external information telling it that the vehicle is not changing
position. This information can then be used to keep a valid local
position even when the vehicle isn't exactly at rest.
2024-08-23 11:17:21 +02:00
64b0586dad
ekf2: return validity based on dead-reckoning time only
2024-08-23 11:17:21 +02:00
d617bf4129
simulation/gz_bridge: Fix build issues with unused variable
2024-08-22 11:48:46 -04:00
7250ee1b32
ekf2: organize gyro_bias/accel_bias param yaml
2024-08-22 10:56:16 -04:00
ebbd2c1825
ekf2: organize aid source parameters
2024-08-22 10:56:16 -04:00
ee022a70c1
Navigator: Land: Improve it for VTOL by taking breaking distance into account ( #23566 )
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* vtol adjust landing setpoint
* improve comment
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-22 14:10:36 +02:00
e0bb56b6a7
Commander: Failsafe: set clear condition for action Land like for RTL ( #23569 )
...
For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.
Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-22 14:03:24 +02:00
6ef82ada6e
Navigator: make sure VTOL transitions in Descend mode are alays triggered ( #23578 )
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It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-22 14:02:32 +02:00
20b6f343a3
mission_base: make sure all mission_items during landing phase have yaw set to NaN
2024-08-22 12:58:44 +02:00
ae16556107
simulation/gz_bridge: follow model in gz GUI ( #22808 )
2024-08-21 11:41:47 -04:00
3478765c31
Navigator: MissionFeasibilityCheck: Rework 1st waypoint check ( #23568 )
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* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid
* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight
* Apply suggestions from code review
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
* feasibilityCheckerTest: update tests to not fail for first waypoint check
* feasibilityChecker: make comment for 1stwaypointcheck event
* Feasibility check unit test: fix comment
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-21 09:08:36 +02:00
f252e20eae
Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )" ( #23583 )
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This reverts commit 7e45f491521.732mackay@gmail.com >
2024-08-20 19:36:08 -04:00
0931179579
ekf2: extract WMM update logic
2024-08-20 10:32:27 -04:00
f2f4488594
drivers/gps: publish secondary instance satellite_info if main instance is advertised
2024-08-19 11:14:12 -04:00
ecfdbd2e60
littlefs: needs more stack when used
2024-08-19 11:05:50 -04:00
4d21110cfb
Documentation - improved GCS parameter readablity ( #23376 )
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improved GCS parameter description
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 13:36:04 +02:00
7e45f49152
Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. ( #23455 )
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* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.
* Fix formatting
---------
Co-authored-by: jmackay2 <jmackay2@gmail.com >
2024-08-19 08:54:57 +02:00
e29a36adb4
Landing horizontal velocity compensation / unsteady landing ( #23546 )
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* initial working
* implemented feedback
2024-08-19 08:01:43 +02:00
435e9665b3
RTL: cone: never climb more than to RTL_RETURN_ALT ( #23558 )
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This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-19 07:51:33 +02:00
ad1d9e1312
failsafe: do not add additional hold delay if failsafe action is hold
2024-08-16 16:26:20 +02:00
ea673b0b5b
navigator: check hagl failsafe centrally
2024-08-16 16:26:20 +02:00
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled ( #23556 )
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COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 13:57:37 +02:00
4a3cbecf01
Commander: only add *autopilot disengaged* to failsafe notifactions in special cases
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 11:04:37 +02:00
f7e6e1354a
commander: power check only keep error thresholds
2024-08-15 10:06:56 -04:00
2a124fd998
Add Bosch BMM350 magnetometer ( #23362 )
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* Add Bosch BMM350 magnetometer
* BMM350 replace info messages with debug messages
* BMM350 update measurement interval
* BMM350 fix offsets, update based on review
* BMM350 Update default parameters to 50Hz
* Update OTP Word LSB check
* BMM350 fix styles and formatting
* BMM350 update error checks
2024-08-15 01:29:02 -08:00
4ed3e9e210
navigator: add failure enum
2024-08-14 11:08:02 +02:00
25fcb3c913
comander: trigger failsafe when navigator reports failure
2024-08-14 11:08:02 +02:00
9f69e9ee6c
navigator: publish navigator_state
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feedback to commander
2024-08-14 11:08:02 +02:00
bresch