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1765 Commits

Author SHA1 Message Date
Hamish Willee
9cf3e83197
VehicleCommand.msg - takeoff & global position (#24574) 
* VehicleCommand.msg - takeoff & global position

* Apply suggestions from code review

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg

* Update msg/versioned/VehicleCommand.msg
 2025-05-01 18:37:46 +10:00
chfriedrich98
39fa8b5550 differential: migrate state machine to velocity control 2025-04-29 14:49:44 +02:00
chfriedrich98
0ab9071606 differential: seperate velocity control 2025-04-29 14:49:44 +02:00
Pedro Roque
9027dc146e
feat: add 6 DoF trajectory setpoints message 
* feat: add attitude to trajectory setpoints

* feat: proposed new trajectory message for fully actuated vehicles

* fix: moved to unversioned and changed naming scheme

* feat: added space between translation and attitude control

* fix: change cmakelists
 2025-04-15 10:24:03 +02:00
chfriedrich98
ca76d287d4 rover: add rover-specific position setpoint 2025-04-08 12:27:11 +02:00
chfriedrich98
9fe98b0724 ackermann: seperate velocity control 2025-04-08 12:27:11 +02:00
Silvan Fuhrer
69b7a21f02
AirspeedValidated: add VERSION (#24620) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-28 12:15:00 +01:00
bresch
2aaa54037c ekf2: split gnss pos/vel flags 
They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
 2025-03-11 14:14:40 +01:00
chfriedrich98
d1b0be18b2 pure_pursuit: update library 2025-03-10 11:14:00 +01:00
Silvan Fuhrer
a127a8293a VehicleStatus.msg: make clear that vehicle_status should refer to current locomotion method 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Silvan Fuhrer
7cb6464cfb VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Silvan Fuhrer
49a84f38a2 VehicleStatus.msg: remove unused VEHICLE_TYPE_AIRSHIP 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Sebastian Domoszlai
b5f37c9fa6
Simplify Battery-related Enum Naming (#24265) 
* 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* Update outdated file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
Eric Katzfey
5fb810a5ea voxl_esc: Added Mavlink tunnel UART pass-through mechanism 2025-02-26 18:04:34 -05:00
chfriedrich98
7c63468e8b mecanum: refactor code architecture 2025-02-25 17:06:17 +01:00
Jacob Dahl
d602b569b1
msg: fix comments in SensorOpticalFlow and VehicleOpticalFlow (#24337) 2025-02-25 14:04:52 +01:00
Eric Katzfey
98ceb0ce79 voxl_esc: Added GPIO control feature 
voxl_esc: Removed obsolete modal_io_data UORB topic
 2025-02-19 11:00:15 -05:00
chfriedrich98
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover(#24318) 
* differential: refactor code architecture

* Offboard fix

* fix accel/decel slew rate
 2025-02-18 18:26:38 +01:00
Silvan Fuhrer
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
Perre
412d4390a6
MC Slowmode: Yawstick for gimbal control, vehicle yaw follows gimbal (#24242) 
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off

* Increase queue length to avoid automatically unadvertise queued publications with queue length 1

* Improve readability

---------

Co-authored-by: Pernilla <pernilla@auterion.com>
 2025-02-18 14:38:11 +01:00
Silvan Fuhrer
3be8b680f6 msg_translation: Add vehicle_status_v1 translation 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan Fuhrer
662c66e546 VehicleStatus: bump VERSION to 1 after removal of avoidance_system_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan Fuhrer
3119510f25 Remove health_component::avoidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Matthias Grob
0b370ab5d3 Remove obstacle avoidance MAVLink Heartbeat check 2025-02-18 14:33:16 +01:00
Silvan
b916a96e00 Remove uorb topics exclusively used for avoidance 
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg

Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
b34a5eb6f7 PositionControllerStatus: remove unused fields 
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
1f2dba68d2 remove avoidance library and logic 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Marco Hauswirth
d2cbe10243
Clean up temperature msg fields (#24272) 
* remove temp field from airspeed.msg, adjust temp selection

* temp-sensor hirarchy: airspeed, ext. baro, default value

* directly use diff-press or baro temp in true-airspeed  calc

* improve clarity

* add enum for temperature source in VehicleAirData.msg
 2025-02-18 13:23:10 +01:00
Beat Küng
f6bfa9812e msg: add message translation node for ROS 2025-02-11 13:19:25 +01:00
chfriedrich98
55f51d7e7e ackermann: refactor code architecture 2025-02-10 15:54:24 +01:00
Marco Hauswirth
4df65c133e
add cs_baro_fault to switch to fallback baro if available (#24260) 2025-01-28 10:37:16 +01:00
bresch
c76e74338b ekf-replay: fix airspeed replay 
If available, the EKF uses airspeed_validated, not airspeed
 2025-01-26 23:05:39 -05:00
RomanBapst
c7e494b8d9 VehicleImu: use 32 bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
Marco Hauswirth
4a5aa1e947
Fix max-hagl restriction to position/altitude control (#23667) 
* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
 2025-01-20 15:50:21 +01:00
Matthias Grob
bc92008885 RpmControl: Better consider the case where there's no rpm measurement (anymore) 2025-01-14 14:55:34 +01:00
Matthias Grob
ddd410e9d8 RpmControl: remove status message because it by now only contains redundant information 2025-01-14 14:55:34 +01:00
Matthias Grob
940fe45ba7 ControlAllocator: introduce helicopter rotor rpm controller 2025-01-14 14:55:34 +01:00
bresch
b1773df441 ekf2: fix comments about primary height sources 
Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
 2025-01-07 10:23:13 +01:00
Matthias Grob
267fa06da8 RPMCapture: fix copyright year, improve comments 2024-12-19 07:30:25 +01:00
Matthias Grob
c463cc42d0 RPM: clean up message 2024-12-19 07:30:25 +01:00
Matthias Grob
1bcdb3ef8c RPMCapture: add hardcoded rpm processing 
Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
 2024-12-19 07:30:25 +01:00
Julian Oes
98fde4cbac gimbal: correctly set gimbal_device_id 
When we use a gimbal connected via "RC", so PWM via the Aux channels, we
need to set the gimbal_device_id to 1 as per the protocol.

This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and
fixed the name of that variable while at it.
 2024-12-18 07:51:40 +01:00
GuillaumeLaine
2e166379c7 docs: split msgs as un/versioned 2024-12-13 16:34:37 +01:00
GuillaumeLaine
4d62522942 uxrce_dds_client: remove unused msgdir arg from script 2024-12-13 16:34:37 +01:00
GuillaumeLaine
4fe7d713d3 msg: introduce message versioning 2024-12-13 16:34:37 +01:00
chfriedrich98
5dcccd999c mecanum: add slew rates to yaw, yaw rate and speed setpoints 2024-12-02 10:54:43 +01:00
chfriedrich98
6cce443005 mecanum: deprecate RM_MISS_SPD_DEF 2024-12-02 10:54:43 +01:00
bresch
b19a6ee3b5 ekf2: store position state as lat/lon/alt 
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
 2024-11-22 15:13:47 +01:00
Matthias Grob
b5d18c6131 Remove unused collision_report message 2024-11-12 21:18:57 -05:00
chfriedrich98
4f00df60ae differential: add slew rates for setpoints, deprecate RD_MAN_YAW_SCALE and update airframe tuning 2024-11-11 14:44:10 +01:00