d514cb4903
mc_att_control: use StickYaw class for Stabilized
...
to make yawing including reset and drift handling consistent with
Altitude and Position mode.
2025-04-22 15:35:26 +02:00
174147208e
Move StickYaw class into a globally available library
2025-04-22 15:35:26 +02:00
c2706f5406
rover: auto mode stopping conditions
2025-03-25 10:38:30 +01:00
f583406558
src/lib/parameters/parameters.cpp: Remove conversion of unaligned pointers
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Parameter "void *val" passed to the functions in parameters.cpp are not always
4-byte aligned, so on some platforms direct casting to "int32_t *" or "float *"
leads to an unaligned exception. An example of such user is Logger, which directly packs
parameter values to character buffer.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae >
2025-03-11 07:50:47 +01:00
0671e40f8e
pure_pursuit: migrate params from .yaml to .c
2025-03-10 11:14:00 +01:00
d1b0be18b2
pure_pursuit: update library
2025-03-10 11:14:00 +01:00
fec240efba
src/lib/airspeed/CMakeLists.txt: Link to "atmosphere" library
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Fix a linking error of not finding "atmosphere::getDensityFromPressureAndTemp(float, float)"
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae >
2025-03-10 09:16:48 +01:00
d1e4198864
rover_control: migrate params from .yaml to .c file ( #24445 )
...
* rover_control: migrate params from .yaml to .c file
* Update src/lib/rover_control/rovercontrol_params.c
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 17:28:09 +01:00
7cb6464cfb
VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
d4509a6cd4
flashfs32: fix result handling ( #24371 )
...
We need to translate return values here, otherwise this complains being
unsuccessful when it was actually ok.
2025-02-28 16:21:09 -09:00
b5f37c9fa6
Simplify Battery-related Enum Naming ( #24265 )
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* Simplify battery-related enum naming
* Fix mistakenly removed string in enum names
* Fix missing renamings
* Update outdated file
* msg: Increase battery_status version since the enum naming was changed
* Revert message version increase
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-28 11:42:40 -09:00
ba31054992
Add RSSI in dBm support, plus LQ, to GHST protocol ( #24351 )
2025-02-28 00:53:32 -09:00
2169ea561b
PR: add optical flow arming check ( #24375 )
...
* add optical flow arming check
* removed deprecated mavlink_log_critical
* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.
* restructure if/else blocks
2025-02-26 08:41:12 +01:00
73dbecadf1
Qurt: changed the mutex for I2C for the Qurt platform from a single mutex to one for each bus. ( #23531 )
2025-02-19 10:59:45 -05:00
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
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* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
3c129aefa1
Add IC engine control module ( #24055 )
...
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 17:15:32 +01:00
b7b6d45e18
lib: remove bezier
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
e3fd50667d
Mag cal: automatically disable internal mags if external ones are available
2025-02-14 16:12:20 +01:00
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds ( #24336 )
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- VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build
2025-02-14 00:49:09 -05:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
093b379b6b
sf45/collision-prevention: replace repeated code with ObstacleMath library functions.
2025-02-07 13:28:17 +01:00
cb332e047d
obstacle-math: add standard obstacle map functions.
...
These functions help simplify repeated calculations accross driver and collision prevention files that are computing bins, angles and sensor offsets in obstacle maps.
2025-02-03 17:17:35 +01:00
f7dadd9b89
Remove inclusion of rotors in library to enable test ( #24286 )
2025-02-03 15:51:55 +01:00
b09340cc98
Control Allocator: Add option for metric allocation (skip normalization) ( #24199 )
...
* add: metric allocation
* add: actual files
* rft: moved metric allocation to pseudo-inverse via flag with public method
* del: removed metric allocation test and added test in pseudo-inverse testing
* rft: deleted extra newline at the end of pseudo inverse test file
* feat: removed unnecessary log include
2025-01-20 13:30:51 +01:00
ab46502cbd
obstacle-math: add unit tests for project_distance_on_horizontal_plane function.
2025-01-20 11:11:29 +01:00
29f981f14c
collision-prevention: extract rotation scaling function into new ObstacleMath library.
...
New library created for static and/or repeated code across collision prevention and driver files.
2025-01-20 11:11:29 +01:00
8ecb76aba2
[Multirotor] add yaw torque low pass filter ( #24173 )
...
co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com >
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com >
2025-01-15 14:02:28 +01:00
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library ( #24196 )
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* Remove more circular dependencies with ActuatorEffectiveness
* Separate vehicle specific actuator effectiveness
Keep actuator effectivenss in control allocator
* Remove test dependency for now
* Group library directories
Fix
* Change directory names
* Rebase fix
2025-01-15 10:12:29 +01:00
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
1043aebf5d
analog_battery: add option for filter ( #23987 )
2025-01-03 16:01:16 +01:00
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
c69f96ec04
ADSB: replace last excess hrt_absolute_time() in the loop
2024-12-19 09:35:38 +01:00
30e51cb80e
ADSB: improve readability of unit tests
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-19 09:35:38 +01:00
1a1fd59302
ADSB: pass now timestamp as arguemnt of send_traffic_warning()
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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
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
491ee01ac4
rpm_capture: add rpm capture driver, publising pwm_input (for now)
2024-12-19 07:30:25 +01:00
fa5a781e20
AlphaFilter: set time constant instead of alpha
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Then the update function can set the dt at every iteration if needed
2024-12-18 14:11:08 +01:00
37401d6fd1
AlphaFilter: allow setting dt in update call
2024-12-18 14:11:08 +01:00
9e9d352eb2
mavlink: update submodule
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MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
2024-12-18 07:12:36 +01:00
aca5a70964
standard_modes: add vehicle-type specific standard modes
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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
4db55cd25f
mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
d7904b5f2c
mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
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
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
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
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
Matthias Grob