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16838 Commits

Author SHA1 Message Date
Konrad
d1b8a2e8d5 fxedwingPositionControl: Add slew rate at the end for all mode instead inside each 2023-12-05 10:42:23 +01:00
Konrad
1d07697a9e NPFG: Add fallback for corner cases 2023-12-05 10:42:23 +01:00
Matthias Grob
1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00
Matthias Grob
4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
Matthias Grob
d8d2213cab mavlink streams: add SYSTEM_TIME to onboard low bandwidth 
It's required with 2Hz by some MAVLink enabled payloads.
 2023-12-01 11:02:37 -05:00
Matthias Grob
9184a8f4ef mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth 2023-12-01 11:02:37 -05:00
Matthias Grob
3ceb932b7c mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth 
There are MAVLink enabled gimbals that directly consume RC channel data.
The gimbal controls stutter with this profile when the rate is too low.
 2023-12-01 11:02:37 -05:00
Matthias Grob
938be68c69 mavlink streams: add gimbal orientation feedback to normal stream 
It only publishes when the information is available on uORB
and is useful for the groundstation to show the gimbal's status.
 2023-12-01 11:02:37 -05:00
Silvan Fuhrer
b0df7c7ccb RTL/Land: set gimbal to neutral to reduce change of damage 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Silvan Fuhrer
789b3880cf Mission: set gimbal to neutral on inactivation 
It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Silvan Fuhrer
0d8ba587ca Mission: set gimbal to neutral before landing item 
To reduce risk of damage during landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Silvan Fuhrer
178ea132b6 Navigator: add set_gimbal_neutral() functionality 
To point the gimbal forward eg during landing to reduce chance of damage.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
bresch
fe7988672f ekf2: auxiliary position fusion 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-12-01 11:50:22 +01:00
Matthias Grob
8bb20db7da GotoControl: Save flash 2023-11-30 17:16:02 +01:00
Matthias Grob
7b4712cb29 sensor_simulator: initialize VelocitySmoothing with desired limits 2023-11-30 17:16:02 +01:00
Matthias Grob
5a2efc1cb2 GotoControl: remove dependency on PositionControl 
It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
 2023-11-30 17:16:02 +01:00
Matthias Grob
c853acc2ff GotoControl: also provide maximum velocity to position smoother 2023-11-30 17:16:02 +01:00
Matthias Grob
d1e8bdbd16 GotoControl: rename yaw rate acceleration parameter 
such that not only one letter differs to MPC_YAWRAUTO_MAX
 2023-11-30 17:16:02 +01:00
Matthias Grob
dc7f9165d1 logged_topics: fix goto_setpoint name 2023-11-30 17:16:02 +01:00
Matthias Grob
3de6fee07f GotoControl: make interface over uORB 2023-11-30 17:16:02 +01:00
Matthias Grob
96a81c22e3 GotoControl: simplify configuration wrapping 2023-11-30 17:16:02 +01:00
Matthias Grob
439d6c61e0 Revise GotoControl 2023-11-30 17:16:02 +01:00
Matthias Grob
be05b3e8d7 helper_functions: include defines for M_PI_PRECISE 
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e16bb62d2caf0c3be1f2fea660036ba
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
 2023-11-30 17:16:02 +01:00
Matthias Grob
efb325d25d motion_planning: remove deprecated separate test 
It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
 2023-11-30 17:16:02 +01:00
Thomas Stastny
4b920a6628 GotoControl: add go-to control interface to mc position controller 
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
 2023-11-30 17:16:02 +01:00
Thomas Stastny
e47aba8bc9 msg: add go-to setpoint interface 2023-11-30 17:16:02 +01:00
PX4 BuildBot
33a3e568bb boards: update all NuttX defconfigs 2023-11-29 20:54:34 -05:00
Jacob Dahl
e627fe01dc UXRCE_DDS_SYNCC default 0 2023-11-29 20:53:01 -05:00
Konrad
42ce9eb692 mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded. 2023-11-29 11:10:40 -05:00
Konrad
36f0c0f0bf mavlink-mission: Add support for opaque ids and replace update counter with it 2023-11-29 11:10:40 -05:00
Konrad
120e7fea8b mavlink: update submodule including opaque ID 2023-11-29 11:10:40 -05:00
Frederik Markus
f00d97d974
removal of PX4_GZ_MODEL env variable and fix of ground glitching (#22400) 
Removal of PX4_GZ_MODEL env variable and fix of ground glitching

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-29 09:08:04 +00:00
alexklimaj
59abab8379 sensors: add parameter to silence imu clipping 2023-11-28 11:57:14 -05:00
Daniel Agar
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-28 11:04:02 -05:00
PerFrivik
de9074558b Roboclaw: Updated Airframe and fixed left and right mapping error 2023-11-28 16:30:17 +01:00
Per Frivik
9409646a89 Update RoverPositionControl.cpp 2023-11-28 16:30:17 +01:00
PerFrivik
c7e780cb6d Roboclaw: Working temporary version that drives around 2023-11-28 16:30:17 +01:00
Konrad
8a68a66203 figureEight: Rename relative position variable 2023-11-28 10:06:01 +01:00
Konrad
1e06ed2ed5 figureEight: Rework initialization 2023-11-28 10:06:01 +01:00
Konrad
a73409c015 FigureEight: Refactor initialization 2023-11-28 10:06:01 +01:00
Beniamino Pozzan
2363c03bfe [uxrce_dds_client] wait for Timesync to converge 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Beniamino Pozzan
f01400de81 [uxrce_dds_client] Fix debug string format - use PRId64 and llabs 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
PX4 BuildBot
dfbd5c88b1 Update submodule mavlink to latest Tue Nov 28 00:39:31 UTC 2023 
- mavlink in PX4/Firmware (b8870adb3e2002ee16ebf63bd23342a055ab8628): 70181c42fc
    - mavlink current upstream: 02f1575d73
    - Changes: 70181c42fc...02f1575d73

    02f1575d 2023-11-24 Hamish Willee - MAV_CMD_CONDITION_YAW - shortest direction v2 (#2058)
bc0d8611 2023-11-22 Roman Bapst - moved MAV_CMD_EXTERNAL_POSITION_ESTIMATE from ardupilotmega to common (#2057)
b85e0016 2023-11-22 Hamish Willee - development - delete MAV_CMD_SET_FENCE_BREACH_ACTION (#2053)
 2023-11-27 20:40:31 -05:00
Silvan Fuhrer
2734c44533 FlightTaskAuto: set state to None if prev and current sp are equal 
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-27 18:01:47 +01:00
Konrad
6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad
5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad
3ac7ed6afa mission_base: Do not reset mission on invalid mission upload 2023-11-24 08:11:41 +01:00
Konrad
a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Beat Küng
7afa011741 mavlink_mission: publish mission after updating dataman 
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
 2023-11-24 08:10:07 +01:00
Beat Küng
93cae5f9d7 mission: fix comparison logic for saving mission state 2023-11-24 08:10:07 +01:00