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Author SHA1 Message Date
Peter van der Perk
b1ad4e8864 Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal 
Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
 2022-05-10 09:46:18 -04:00
Beat Küng
3ac8fdbe29
px4/fmu-v5/stackcheck: disable module to reduce flash 2022-05-10 10:25:06 +02:00
Beat Küng
689ceefada
px4/fmu-v2/fixedwing: disable module to reduce flash 2022-05-10 10:24:55 +02:00
Beat Küng
fc062ffad4
omnibus/f4sd/ekf2: disable module to reduce flash 2022-05-10 10:24:43 +02:00
Konrad
0e464a91be Remove contradicting geofence parameter description 
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
 2022-05-10 09:01:12 +02:00
Beat Küng
6a35c9f5fe px4/fmu-v5/protected.px4board: disable module to reduce flash 2022-05-10 08:57:39 +02:00
Beat Küng
639c5c741e px4/fmu-v2/multicopter.px4board: disable module to reduce flash 2022-05-10 08:57:39 +02:00
Beat Küng
abb37a3d27 holybro/kakutef7: disable module to reduce flash 2022-05-10 08:57:39 +02:00
Beat Küng
5d114329d7 cubepilot/cubeorange/test.px4board: disable module to reduce flash 2022-05-10 08:57:39 +02:00
Beat Küng
adc6472480 cuav/x7pro/test.px4board: disable module to reduce flash 2022-05-10 08:57:39 +02:00
Beat Küng
5cdb6fbd8e control_allocator: add helicopter mixer 
Same logic as the existing mixer.
Untested.
 2022-05-10 08:57:39 +02:00
Beat Küng
32402f31df control_allocator: increase max num motors to 12 2022-05-10 08:57:39 +02:00
Beat Küng
9f5c5591a2 ActuatorEffectivenessRotors: fix motor count check 
Check during init to avoid out-of-bound access.
 2022-05-10 08:57:39 +02:00
Daniel Agar
15296ab453 cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR 2022-05-09 15:23:18 -04:00
Silvan Fuhrer
5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer
1aad82f87d Commander: add max flight time RTL 
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Daniel Agar
2e1cdc9e75 boards: modalai_fc-v1 enable dshot on all outputs 2022-05-09 11:31:31 -04:00
Igor Mišić
ce4e9f6690
uavcan: use timer 6 by default on stm32f7 2022-05-06 19:45:53 -04:00
achim
9c12c2a152
boards: matek h743 update unified target 2022-05-06 14:57:37 -04:00
achim
76cf4332d9
boards: matek_h743-mini sync all Matek H743 boards 2022-05-06 14:56:20 -04:00
Thomas Stastny
90789be68f fw pos ctrl: turn back to takeoff point with npfg 2022-05-06 16:36:03 +02:00
Thomas Stastny
3ef5f433b5 fw pos ctrl: add missing guidance control interval setting to control_manual_position() 2022-05-06 16:36:03 +02:00
Thomas Stastny
1ab9fb22ee fw pos ctrl: fix state switching logic for takeoff and landing 2022-05-06 16:36:03 +02:00
Matthias Grob
b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -04:00
Beat Küng
113982e3e7 commander: fix incorrect return in set_link_loss_nav_state() 
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
 2022-05-06 10:14:13 -04:00
achim
a71cf21c28
boards: matek_h743-slim_default try to fit as many modules of all categories as possible into the flash. 2022-05-06 10:13:30 -04:00
achim
87ebf17ab0
boards: matek h743 enable 12 pwm outs on slim and wing V1.0 and V1.5 2022-05-06 10:10:59 -04:00
achim
fc887a23af
boards: matek h743 mini 2022-05-06 10:09:14 -04:00
Silvan Fuhrer
20400cbb74 ROMFS: reduce FW_SPOILERS_LND to 0.4 to leave ailerons enough control authority 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-06 16:05:03 +02:00
Matthias Grob
843c814fb8 MulticopterPositionControl: allow offboard takeoff also when not landed 2022-05-06 04:12:18 -07:00
Matthias Grob
fbc109436f MultiCopterRateControl: refactor setpoint naming 2022-05-06 04:12:18 -07:00
Matthias Grob
1211a457d7 MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only 2022-05-06 04:12:18 -07:00
Matthias Grob
d9a2fe5226 Revert "MCPosControl: fix invalid setpoint race condition" 
This reverts commit e7a2c1d88e1bad6c07805aa52c7500d18dbe84d8.
 2022-05-06 04:12:18 -07:00
achim
1f3a78b535
boards: mro ctrl zero classic enable all pwm outs 
* enable all available pwm outs, cause io timer 15 is supported now
 2022-05-05 22:39:12 -04:00
mcsauder
2a66be4899 Colocate struct stateSample with other instances of *Sample structs. 2022-05-05 18:41:50 -04:00
mcsauder
a0d9687409 Add c++ style initializers where missing in EKF/common.cpp, standardize tab/space indentation, align comments and format whitespace. 2022-05-05 18:41:50 -04:00
bresch
cab477d715 ekf2: optimize KHP computation 
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.

Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op

- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
 2022-05-05 10:34:17 -04:00
achim
3233272cbb
boards: diatone_mamba-f405-mk2_default fix /dev/ttyS2 name 2022-05-05 09:41:49 -04:00
bresch
c890e8bf99 WindEstimator: fix state covariance prediction 
All the states are stationary so the discrete-time process noise Qk can
be directly added to the state covariance matrix P
 2022-05-05 11:53:33 +02:00
Konrad
14a2fdfe55 Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°. 2022-05-04 21:23:22 -04:00
achim
2bee8bfd45
boards: diatone_mamba-f405-mk2_default 
- change modules still fit to flash, there is no board variant with sd slot
 2022-05-04 21:08:44 -04:00
achim
bf8d759d3d
boards: matek h743 slim support v1 and v1.5 IMU variants 
- remove temp compensation to still fit into flash
 2022-05-04 14:05:16 -04:00
Matthias Grob
46fdc28cf8 MulticopterPositionControl: fix typo "descen{d/t}" 2022-05-04 02:22:18 -07:00
Daniel Agar
7f1bb556e9 Update src/modules/mc_pos_control/MulticopterPositionControl.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-05-04 02:22:18 -07:00
Matthias Grob
3fb4889ab9 MultcopterPositionControl: fix executing a zero setpoint for 200ms 
This is a combination of the originally introduced delay:
06c10f61c1401d448979c65c2250afde42b99522
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429576ce68ac3fee9d2db19112f4604b9
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260d4acb157e191fd8cfc1f58c9c73e4e
 2022-05-04 02:22:18 -07:00
Matthias Grob
cb484c5ac7 PositionControl: publish NAN jerk 
because the controller does not read or write jerk
 2022-05-04 02:22:18 -07:00
Matthias Grob
5055fec796 MulticoperPositionControl: explicitly overwrite setpoint timestamp when setpoint is reset 2022-05-04 02:22:18 -07:00
Matthias Grob
424fd8b304 MulticoperPositionControl: remove time_stamp_now alias for timestamp_sample of the local position 
to make it explicit what is used is not a fresh hrt_absolute_time() call
by this module.
 2022-05-04 02:22:18 -07:00
Matthias Grob
8180f931de MulticopterPositionControl: rename local_pos -> vehicle_local_position 2022-05-04 02:22:18 -07:00
Matthias Grob
4ffe796b4d MulticopterPositionControl: clarify previous position control naming 2022-05-04 02:22:18 -07:00