* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
updating gitignore
* fixing format and declaring submodules as cmake dependencies
* adding uORB message documentation
* fixing comment alignment
* Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead)
* bump RLtools; relax timing thresholds and adding real world readme
* smooth traj tracking performance
* Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification
* More ideomatic way of setting the path to the policy checkpoint
* Reset trajectory_setpoint on raptor mode activation
* Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance
* stable flight
* Update msg/versioned/RaptorInput.msg
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* adopting message formatting conventions
* sort raptor.px4board
* Archiving RegisterExtComponentRequestV1.msg
* Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2
* fixing formatting
* making internal reference configurable via command
* RAPTOR docs wip
* raptor internal reference documentation
* Finishing RAPTOR docs first draft
* adding logging instructions
* Fixing missing command documentation test error
* fixing format
* adding motor layout warning
* raptor minimal subedit - prettier, images etc
* Improve intro
* Fix up Neural_Networks version
* Mentioning "Adaptive" in the RAPTOR documentation's title
* Adding clarifications about the internal reference trajectory generator
* Removing "foundation policy" wording
* Fixing new-line check
* Removing redundant (evident through directory hierarchy) raptor_ from filenames
* Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic
* Fix to standard structure
* Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table
* Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status
* Trivial layout and wording fixes
* fixing docs error
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* uavcan esc: remove unused includes
* uavcan arming_status: disarm when terminated
To stay consistent with kill.
* uavcan: publish armed during actuator tests to make it possible spinning motors
* feat: added driver for tmp102 temperature sensor
* style: removed new line
* style: adjusted date in header
* style: removed duplicated logging
* fix: moved start-up command from rc.board_sensors to rc.sensors
* style: used consexpr for expected config reg value
* feat: added retry logic to probe function
* style: added _ as prefix to global variable
* style: used make format
* fix: corrected temperature calculation
* fix: mask AL-bit in probe function
* style: removed header files from CMakeLists
* style: used correct english in comments
* refactor: return error right after failure
* style: moved init call to correct place
* fix: corrected temperature calculation (again)
* refactor: removed _curr_pr variable => always have to set PR to desired register on read
* fix: add multi logged topic
* FwLateralLongitudinalControl: publish uknown flight phase if TECS not running
* FwLateralLongitudinalControl: publish flight phase with lower rate
For this we store the new flight phase in a local variable, which is
returned by tecs_update_pitch_throttle (but initialised outside to
unknown in case TECS does not run).
* rover_mecanum: enable yaw control via MAVLink SET_POSITION_TARGET commands
* Maintain the original judgment conditions
---------
Co-authored-by: V <null>
The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land.
The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason.
When position control is disabled, clear the setpoint properly to prevent stale values. This fixes a bug where switching to position mode in the same control loop as a hover thrust estimate update could fill up the velocity integrator.
I don't think we should change the logging profile based on the type of
airframe configured. Instead, this is an option you set based on the
phase of development/testing you're in.
This came up because the KakuteH7v2 which is 4050 by default would log
excessively which is not a good idea with only 128 MB flash storage.
* FwLateralLongitudinalControl: publish flight phase
* FwLateralLongitudinalControl: consolidate hrt_absolute_time calls
* FwLateralLongitudinalControl: Name time variables correctly
* FwLateralLongitudinalControl: pass current time as argument rather than class member
* FwLateralLongitudinalControl: use local position timestamp
Replaces the legacy pure-Python lookup table CRC32 implementation with the built-in `zlib.crc32`.
The previous implementation relied on a manual loop over bytes, which was inefficient for large firmware files (taking ~0.5s for 2MB on modern CPUs). The new implementation reduces this to ~1ms.
Implementation details:
- Removed the hardcoded `crctab` array to clean up the code.
- Adjusted `zlib` initial state (0xFFFFFFFF) and final XOR operations to ensure bit-perfect compatibility with the specific CRC32 variant expected by the PX4 bootloader.
Benchmark (2MB firmware):
- Legacy: ~0.48s
- zlib: ~0.001s
This prevents PX4 from sending out the GPS_GLOBAL_ORIGIN message
immediately when a SET_GPS_GLOBAL_ORIGIN message arrives.
Instead, we apply the new origin in the EKF, and only then send out
the new origin, which is much more intuitive and doesn't confuse a user
of the API.
* init: working towards dual-action ATMOS
* fix: update gz sim to latest
* fix: add motor number max fitting Actuator
* fix: revert non-necessary changes
* fix: ensure esc count does not exceed maximum number of ESCs
* feat: update gz to latest, includes ATMOS dual action
* fix: restore dds_topics
* fix: update gazebo model commit
