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3461 Commits

Author SHA1 Message Date
Jaeyoung-Lim
dac5ae050f Separate vehicle specific actuator effectiveness 
Keep actuator effectivenss in control allocator
 2025-01-10 18:14:35 +01:00
Jaeyoung-Lim
a164aa7be8 Remove more circular dependencies with ActuatorEffectiveness 2025-01-10 17:28:10 +01:00
Matthias Grob
b042f2101f system_params: clarify SYS_HAS_MAG description 
after answering the questions:
Ah the value can be 2? Should I set the number of magnetometers the board has or include the external ones?
 2025-01-08 21:24:00 -05:00
Alex Klimaj
1043aebf5d
analog_battery: add option for filter (#23987) 2025-01-03 16:01:16 +01:00
Mahima Yoga
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations (#24107) 2024-12-20 14:47:22 +01:00
Matthias Grob
c69f96ec04 ADSB: replace last excess hrt_absolute_time() in the loop 2024-12-19 09:35:38 +01:00
Silvan Fuhrer
30e51cb80e ADSB: improve readability of unit tests 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-19 09:35:38 +01:00
Silvan Fuhrer
1a1fd59302 ADSB: pass now timestamp as arguemnt of send_traffic_warning() 
Saves some flash and CPU by not having to call hrt_absolute_time().

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-19 09:35:38 +01:00
Silvan Fuhrer
741e3e8589 ADSB: pass now timestamp as arguemnt of get_traffic_state() 
That enables us to time the unit tests better plus saves some flash and CPU.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-19 09:35:38 +01:00
Beat Küng
491ee01ac4 rpm_capture: add rpm capture driver, publising pwm_input (for now) 2024-12-19 07:30:25 +01:00
bresch
fa5a781e20 AlphaFilter: set time constant instead of alpha 
Then the update function can set the dt at every iteration if needed
 2024-12-18 14:11:08 +01:00
bresch
37401d6fd1 AlphaFilter: allow setting dt in update call 2024-12-18 14:11:08 +01:00
Beat Küng
9e9d352eb2 mavlink: update submodule 
MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
 2024-12-18 07:12:36 +01:00
Beat Küng
aca5a70964 standard_modes: add vehicle-type specific standard modes 
See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE.
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
 2024-12-18 07:12:36 +01:00
Silvan Fuhrer
4db55cd25f mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-13 17:56:46 +01:00
Silvan Fuhrer
d7904b5f2c mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-13 17:56:46 +01:00
Jacob Dahl
ae61b4bfe0
params: flash: erase corrupt sector (#24065) 2024-12-05 07:24:56 +01:00
bresch
6b637f82f8 lla; fix conversion to ECEF 2024-12-03 13:03:54 +01:00
Claudio Chies
1a165a4956 Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed 2024-12-02 14:52:31 +01:00
Matthias Grob
7dcfeb2f77 PositionSmoothing: refactor _getMaxZSpeed() 2024-12-02 14:52:31 +01:00
Matthias Grob
092e5e8f9d TrajectoryConstraints: clarify waypoint indexing 2024-12-02 14:52:31 +01:00
Claudio Chies
06dde4ede8 MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position. 2024-12-02 14:52:31 +01:00
Claudio Chies
72e758950b Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic. 2024-12-02 14:52:31 +01:00
bresch
189122d553 lla: add gravity constant at equator 2024-11-29 14:21:29 +01:00
bresch
b6658df169 lla: move to lib directory 2024-11-29 14:21:29 +01:00
bresch
9b172d36a2 matrix: allow casting float<->double 2024-11-29 14:21:29 +01:00
Matthias Grob
a280d67be8 PID: Fix test to respect integral updates being applied in the next iteration 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grob
f9bcbc31ae PID: protect from division by zero because of dt 
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
 2024-11-26 16:13:48 +01:00
Matthias Grob
b89c53d28c Replace old pid library with new one 2024-11-26 16:13:48 +01:00
Matthias Grob
e047972cde Add new C++ PID library 2024-11-26 16:13:48 +01:00
Silvan Fuhrer
2f65644aeb mixer module: remove unused functions 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-21 11:57:50 -05:00
Claudio Chies
db13b9cb50 CollisionPrevention: Added Case where velocity gets reduced to zero if we are closer to the obstacle than the minimal distance 2024-11-21 11:36:03 +01:00
Matthias Grob
bbc59dcde7 CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message 2024-11-21 11:36:03 +01:00
Matthias Grob
1410325c62 CollisionPrevention: follow parameter variable naming convention 2024-11-21 11:36:03 +01:00
Matthias Grob
30eec33e09 CollisionPrevention: slightly simplify _transformSetpoint() 2024-11-21 11:36:03 +01:00
Matthias Grob
399a8ad5b7 CollisionPrevention: fix early return and use unified bin count + array size 72 2024-11-21 11:36:03 +01:00
Claudio Chies
f41a08aea8 CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change 
rewrite of obstacle_distance merging methods, and fix of various issues
 2024-11-21 11:36:03 +01:00
Matthias Grob
b74dd57e7c CollisionPrevention: restore rate limited warning for no data, minor cleanup 2024-11-21 11:36:03 +01:00
Matthias Grob
4c8c5fbb37 CollisionPrevention: only save quaternion and yaw on attitude update 2024-11-21 11:36:03 +01:00
Matthias Grob
001d722abd CollisionPrevention: move main functions to the top in the order they get called 2024-11-21 11:36:03 +01:00
Matthias Grob
1fa76ac71d CollisionPrevention: reduce internal array size, zero initialize what's possible 2024-11-21 11:36:03 +01:00
Matthias Grob
c879ca531d CollisionPrevention: Clarify bin size definitions, move wrap functions into class 2024-11-21 11:36:03 +01:00
Matthias Grob
84dbbb4351 CollisionPrevention: clarify mode switch command to hold/loiter 2024-11-21 11:36:03 +01:00
Matthias Grob
50ee5bd1b4 CollisionPrevention: Sanitize input of _getObstacleDistance() 
It could cause array out of bound problems before.
 2024-11-21 11:36:03 +01:00
Matthias Grob
eb06ace8e4 CollisionPrevention: fix matrix namespace 
don't use it in header such that clients are free to redefine the names
but include it in cpp files and make use of that.
 2024-11-21 11:36:03 +01:00
Claudio Chies
0cd6a553b9 CollisionPrevention: rewrite for Acceleration based manual flight mode 2024-11-21 11:36:03 +01:00
jmackay2
5b66a1eff1 Fix generate component regex escape sequence 2024-11-19 09:31:11 +01:00
PX4 BuildBot
11fe5580cb Update submodule libevents to latest Sat Nov 16 00:40:14 UTC 2024 
- libevents in PX4/Firmware (1f29c55e82fa22b95313bb0d10b63918718f9c0c): 7c1720749d
    - libevents current upstream: 9ef591c447
    - Changes: 7c1720749d...9ef591c447

    9ef591c 2024-10-14 Beat Küng - pylint: increase max-positional-arguments from 5 to 7
7901a0c 2024-10-14 Beat Küng - pylint: update config (pylint version 14.2.1)
edc472e 2024-10-11 Beat Küng - refactor: change libevents to an INTERFACE library
 2024-11-15 21:12:18 -05:00
Alexander Lerach
b6daf83088 Un-inlined get_table_data 2024-11-15 12:01:06 -05:00
Alexander Lerach
6d0b7f7ed1 Un-inlined rotate_3 2024-11-15 12:01:06 -05:00