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46,394 Commits 852 Branches 161 Tags
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Commit Graph
401 Commits
Author SHA1 Message Date
chfriedrich98 233963b2d5 ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params 2024-11-11 16:40:27 +01:00
chfriedrich98 4f00df60ae differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning 2024-11-11 14:44:10 +01:00
Silvan Fuhrer 0caf77ac15 ROMFS: remove Deltaquad VTOL airframe 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-09 21:12:55 -05:00
Silvan Fuhrer 936767cb53 ROMFS: remove babyshark airframe 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-09 21:12:55 -05:00
Jacob Dahl 965d5b3b95 dexi: parameters for airframe file (#23780) 
* added missing parameters for dexi airframe

* dexi: EKF2_HGT_REF and MC_YAWRATE_MAX
 2024-10-18 11:42:05 -06:00
chfriedrich98 0e65679c9e Mecanum rover: add dedicated module for mecanum rovers (#23708) 2024-09-25 09:35:41 +02:00
Silvan Fuhrer cacbfcecd8 aiframes: remove setting of CBRK_IO_SAFETY to enabeld, as that's already the param default (#23702) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-23 09:10:02 +02:00
chfriedrich98 2fd4150b38 differential: Add stabilized and position mode (#23669) 
* differential: add position and stabilized mode

* differential: add hardcoded stick input deadzones
 2024-09-16 12:09:51 +02:00
Silvan Fuhrer 9ca0630376 airframes: SIH_tailsitter: add SENS_DPRES_OFF to bypass airspeed cal 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-13 15:53:52 +03:00
RomanBapst 11440cfb45 added some default parameteter that allow the transition to complete 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-09-13 15:53:52 +03:00
chfriedrich98 741ea6b707 differential: add individual parameters for speed and yaw rate feedforward 2024-09-11 13:57:27 +02:00
chfriedrich98 f8188f0981 differential: update module (#23629) 
Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
 2024-08-29 15:27:08 +02:00
chfriedrich98 c8ff5909b5 rover: restructure airframes (#23506) 2024-08-07 15:16:41 +02:00
chfriedrich98 33d99a13e8 differential: restructure and update module (#23430) 
* differential: rename module

* differential: restructure and update module
 2024-08-07 09:53:37 +02:00
alexklimaj b46b2cdf54 airframes: droneblocks dexi 5 default to CRSF on RC input with telemetry 2024-07-19 18:23:25 -04:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
chfriedrich98 3fe609f769 exclude 4017 from v5x to save flash 2024-07-10 12:06:48 +02:00
Marco Hauswirth 419652b9fe EKF2: Spoofing GPS check (#23366) 
* estimator gps check fail flag for spoofing

* warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion

* dont introduce more GPS namings, GNSS instead

* flash: exclude mantis for cuav_x7pro
 2024-07-09 16:31:11 +02:00
Roman BapstandSilvan Fuhrer 8221940b60 Added pitot tube icing detection (#23206) 
* lib: add FilteredDerivative class

* AirspeedValidator: add first principle check

- filters throttle, pitch and airspeed rate, and triggers
if the airspeed rate is negative even though the vehicle
is pitching down and giving high throttle.
Check has to fail for duration defined by ASPD_FP_T_WINDOW
to trigger an airspeed failure.

* AirspeedValidator: define constants for first principle check

* FilteredDerivative: set initialised to false if sample interval is invalid

* airspeed_selector: improved comment

* increase IAS derivative filter time constant from 4 to 5

* use legacy parameter handling for FW_PSP_OFF

* handle FW_THR_MAX as well

* ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-09 11:16:40 +02:00
Marco HauswirthandDaniel Agar e04c53241a EKF2: reset position by fusion (#23279) 
* reset position by fusion

* handle local_pos_valid for fixed wing in gnss denied

* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding

* global origin, also reset vertical pos without gps as ref

* fix wo gnss, that bitcraze ci passes

* revert some changes as requested

* remove duplicate reset messages

* undo unrelated whitespace changes, I'll fix it everywhere in a followup

* [SQUASH] ekf2: add vehicle_command_ack

* resetGlobalPosToExternalObservation consolidate logic

* remove gnss check from local_pos validation check

* reset when  0<accuracy<1, otherwise fuse

* replace gps param with flag

* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected

* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2024-07-07 22:43:55 +02:00
Marco Hauswirth a1f43636f3 ekf2: EV fusion in body frame (#23191) 2024-07-04 21:17:19 -04:00
chfriedrich98 f65653a391 battery: add internal resistance estimation 2024-07-02 19:05:13 +02:00
bresch a665764b0e ekf2: remove unused EKF2_TERR_MASK 2024-06-26 11:05:38 +02:00
Silvan Fuhrer f4e76cd392 remove deprecated BAT_ params (#22872) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-14 14:42:32 +02:00
chfriedrich98 5c64a3ed93 Rover Ackermann module (#23024) 
New module handling Ackermann rover guidance and control.
Only enabled in SITL and in the rover builds for now.
 2024-06-07 17:15:12 +02:00
Silvan Fuhrer efe2a52eb4 ROMFS: remove MIS_DIST_1WP customizations in airframes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-29 21:00:35 -04:00
Daniel Agar 78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
alexklimaj 1b1479a92b airframes: Droneblocks DEXI 5 2024-04-12 14:44:01 -04:00
Daniel AgarandMatthias Grob b2b7439060 ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571) 
* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-02-23 15:40:00 +01:00
Matthias Grob 9156c5c065 ROMFS: remove single trailing zeros 2024-01-09 10:27:39 +01:00
Matthias Grob b70b19b7eb ROMFS: keep consistent quad X geometry but in each airframe separately 2024-01-09 10:27:39 +01:00
Matthias Grob 09fa712d37 ROMFS: remove trailing zeroes 2024-01-09 10:27:39 +01:00
Matthias Grob 40f2fc4e77 ROMFS: remove duplicate uuv configuration 2024-01-09 10:27:39 +01:00
Matthias Grob 4b86e174a3 ROMFS: Fix quad + geometry 2024-01-09 10:27:39 +01:00
Matthias Grob 3de5c609a4 Differential Rover: PR fixes 2023-12-21 16:27:53 +01:00
PerFrivik e3359ea884 Differential Rover: Update airframe architecture 2023-12-21 16:27:53 +01:00
Silvan Fuhrer 29807a5e50 Replace CBRK_AIRSPD_CHK with SYS_HAS_NUM_ASPD 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-21 11:34:28 +01:00
Silvan Fuhrer 9e0c8fd75e FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-21 11:34:28 +01:00
Silvan Fuhrer aaefc36cad airframes: remove 4900_crazyflie 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Silvan Fuhrer 6c9af2e0ec airframes: remove 4040_reaper 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Silvan Fuhrer 6b4fca1b9d px4vision configs: remove params that are just set again to default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
PerFrivik c84185af96 Roboclaw: Fixed issue where parameters had different prefixes 2023-11-28 16:30:17 +01:00
PerFrivik bea00f62c9 Roboclaw: Changes in r1 airframe, removed hardcoded port configurations 2023-11-28 16:30:17 +01:00
PerFrivik 3a7f2f8bce Roboclaw: Accidentally removed a parameter 2023-11-28 16:30:17 +01:00
PerFrivik de9074558b Roboclaw: Updated Airframe and fixed left and right mapping error 2023-11-28 16:30:17 +01:00
PerFrivik ab486de430 Roboclaw: Temporary fix, enabling driver to run 2023-11-28 16:30:17 +01:00
Vincent Poon fafec397e8 Fix Default Output Protocol - Airframe 4019_x500_v2 
Remove "param set-default PWM_MAIN_TIM0 -4"
 2023-09-25 09:28:47 +02:00
Matthias Grob f8d729147b Craziflie configs: remove default 100% thrust parameter 2023-09-14 09:50:21 -04:00
Beat Küng 05a5bbe120 boards/diatone/mamba-f405-mk2: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng 8b780f2a96 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:13:16 -04:00