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16202 Commits

Author SHA1 Message Date
Matthias Grob
da4644c20a Sticks: only use stick input if flagged valid 
and add a function for just pitch roll stick input
 2023-03-02 12:06:40 +01:00
Matthias Grob
1dada5daf4 Add StickTiltXY utility class to FLightTasks 
to map stick input to vehicle tilt consistently and reliably across modes.
 2023-03-02 12:06:40 +01:00
Silvan Fuhrer
0c4b288973
RTL: only do calculations in is-inactive if global position is recent (#21208) 
* RTL: only do calculations in is-inactive if global position is recent

* RTL: refactor calcRtlTimeEstimate to only calc and not pub


Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-02 11:09:32 +01:00
Daniel Agar
bde194fb12
simulation/gz_bridge: local_position_groundtruth include heading (#21224) 2023-03-01 18:44:31 +01:00
Daniel Mesham
fe48de6240 Check position subscriber before force-send flag when sending GPS global origin stream 2023-03-01 08:52:41 -05:00
DanielePettenuzzo
539f874325 mavlink main - enable gps global origin stream also on mavlink low bw mode and change all rates to 1Hz 2023-03-01 08:52:41 -05:00
DanielePettenuzzo
6bf19ebe23 gps global origin stream - make sure we can always send out the message at least once on request 
When requesting a message from a stream that is not active we start the
stream with interval=0 and call the request method once. For all streams
this works fine except the gps_global_origin. For this one the request method
is actually overidden to throttle down the rate and not just send out the message.
This will cause this message to never being sent on request if the stream
is not active by default.
 2023-03-01 08:52:41 -05:00
Silvan Fuhrer
76116d79f9 TECS: remove umcommanded_descent flag 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer
527225357b TECS: remove unused TECS_MODE_CLIMBOUT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Tony Samaritano
2b73b6df70 commander: fixes valid mag count in HIL 2023-03-01 08:05:23 +01:00
Daniel Agar
b5a6d6db0d ekf2: fix controlEvYawFusion() yaw reset 2023-02-24 16:59:59 -05:00
Silvan Fuhrer
837095b9a8
tecs: use FW_T_SINK_MIN for STE_rate_min (#21190) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 15:46:41 +01:00
Roman Bapst
33b54f7c57
vtol_att_control: Consolidate logic for front transiton completion (#21107) 
* vtol_att_control: consolidate logic for front transiton completion

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* addressed review comments

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-24 15:52:27 +03:00
Silvan Fuhrer
4259b5adac Commander: copy sensor_gps in HomePosition::update() and store relevant fields in separate variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer
006321e278 Commander: remove unused param COM_POS_FS_EPV 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer
526e066d9a Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer
e6af8b9aa6 Commander: Home Position: move gps checks on when to allow setting home pos inside HomePosition class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Hamish Willee
76aac7a5e5 VehicleCommandAck typo on module docs 2023-02-23 08:19:11 +01:00
Hamish Willee
4daa63afc2 Sensors.cpp - case the uorb topics like SensorGyro 2023-02-23 08:18:39 +01:00
Alejandro Hernández Cordero
ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor (#21176) 
* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-02-22 19:32:25 +01:00
Beat Küng
06dfd1726f microdds_client: fix -l flag and add -c for custom participant configuration 
Allows to use a custom FastDDS configuration on the Agent side.
 2023-02-22 11:15:29 -05:00
Daniel Agar
98263de17b ekf2: move aux vel helpers to auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
a199df78cc ekf2: move mag control helpers to mag_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
c20e4e4421 ekf2: move stopFlowFusion() to optical_flow_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
3a317ec18c ekf2: move gps helpers to gps_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
9ec3f30ae1 ekf2: move gps buffer pop to controlGpsFusion() 
- controlGpsFusion() now owns yaw estimator update
 2023-02-22 09:08:33 -05:00
Daniel Agar
a867bb7d88 ekf2: let controlAirDataFusion() update yaw estimator TAS 2023-02-22 09:08:33 -05:00
Daniel Agar
60856ebe62 ekf2: move range buffer pop to controlRangeHeightFusion() 2023-02-22 09:08:33 -05:00
Daniel Agar
08f111f694 ekf2: consolidate airspeed fusion logic and helpers 
- pass new airspeed sample around when available
 - can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
 2023-02-22 09:08:33 -05:00
Daniel Agar
241cee2bb7 ekf2: move airspeed buffer pop to controlAirDataFusion 2023-02-22 09:08:33 -05:00
Daniel Agar
0711a34d0e ekf2: move flow buffer pop to controlOpticalFlowFusion 2023-02-22 09:08:33 -05:00
Daniel Agar
ed8cef6cf0 ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
b4e845d7c0 ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
c08a387c5a ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
d61b8c21b2 ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar
d840f7f39f ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp 2023-02-22 09:08:33 -05:00
Matthias Grob
f887ad6ebf mc_att_control: allow commanding a yaw rate with zero throttle 
Still avoiding to build up absolute yaw error in that case.
 2023-02-21 19:33:28 +01:00
Matthias Grob
2b0f7879bc mc_att_control_main: separate yaw rate setpoint generation from absolute yaw reset 2023-02-21 19:33:28 +01:00
Matthias Grob
ce5cff55b7 mac_att_control: heading lock in stabilized only after ekf final yaw alignment 2023-02-21 19:33:28 +01:00
Silvan Fuhrer
f0571de731 MCAttitudeController: remove reset of yaw_sp when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-21 19:33:28 +01:00
Beat Küng
fe3c1d0a92 logger: do not try to wait for mavlink ack when writing watchdog data 
As it might block for 2.5s (if mavlink is blocked) and therefore would not
write to file before restoring the priorities.
 2023-02-21 11:32:30 -05:00
Beat Küng
66b0f6eb35 log_writer_file: call fsync after reliable transfer 
ensures watchdog data is flushed immediately
 2023-02-21 11:32:30 -05:00
Beat Küng
e4cef9f303 logger: update watchdog 
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s

There are precautions in case the SD card code itself has a busy-loop.
 2023-02-21 11:32:30 -05:00
Beat Küng
015ba62727 log_writer_file: do not call close() with mutex held 
Generally not an issue, but if close() takes long, or even busy-loops due
to an underlying bug in the OS, it will block the main thread too.
 2023-02-21 11:32:30 -05:00
Jaeyoung Lim
5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Silvan Fuhrer
94be17af8f FWPositionControllre: only check acceptance radius to swich to loiter to reach WP alt 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 21:55:27 -05:00
Silvan Fuhrer
2008a447c3 FW PositionController: circular landing: publish orbit status 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer
485785d81d FW PositionController: circular landing: enable automatic landing aborts 
Enable automatic landing abort on timed out distance sensor reading also for
the circular landing. Do not enable the no-terrain timeout check, as, opposed
to the straight landing, we here don't know when to expect the distance sensor
to get valid.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer
37b6dccda9 Land: use MIS_LND_ABRT_ALT also in non-mission Land 
As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer
c47210fc77 FWPositionController: add support for circular landings 
Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00