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27955 Commits

Author SHA1 Message Date
Daniel Agar
e12c3c00a4
control_allocator: param update avoid temporary 
- this is a harmless workaround for a GCC warning (-Wdangling-pointer) false positive
 2025-02-17 14:35:15 -05:00
dirksavage88
01549a5832 fix to kconfig newline 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
dirksavage88
5ffa69ff54 fix newline in module.yaml 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-02-14 15:50:43 -05:00
Eric Katzfey
b0eb639587
voxl2_io: Updated to latest version from ModalAI fork 
- Updated to the latest version of the voxl2_io driver from the ModalAI fork.
 - Moved to the platform independent Serial driver
 - Added voxl2_io driver to the SLPI DSP build
 2025-02-14 14:33:38 -05:00
alexklimaj
fd5bb9e69c uavcannode rangefinder: only publish reading too far or too close if less than or greater than. Not equal to. 2025-02-14 14:26:39 -05:00
Marco Hauswirth
61d595dc64 reset dist_to_ground_lock if dist_to_bottom is not valid. this avoids a reset to a previous dist_to_ground after a switch back to a valid measurement 2025-02-14 17:10:14 +01:00
bresch
fe5c887895 mag check: do not require mag 0 
sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
 2025-02-14 16:12:20 +01:00
bresch
e3fd50667d Mag cal: automatically disable internal mags if external ones are available 2025-02-14 16:12:20 +01:00
Alexander Lerach
430be08131
Add payload tx/rx timeouts to DDS 
* Add tx/rx timeouts

* Code style & tx default timeout

* Clarify TX/RX disable value
 2025-02-14 14:54:42 +01:00
Alexander Lerach
f2471861a3 Fix GPS RTCM instance selection 2025-02-14 09:39:59 +01:00
Eric Katzfey
eb18edf5eb
Don't allow spacecraft module parameters for VOXL 2 builds (#24336) 
- 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
Alex Klimaj
98cba19f50
esc_battery: report temperature 
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
 2025-02-11 21:17:53 -05:00
Beat Küng
975ec30c9c uxrce_dds_client: add DDS message versioning 
This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
 2025-02-11 13:19:25 +01:00
Silvan Fuhrer
136f9f48fc
FW Position controller: transform RWTO_PSP to rad when used (#24312) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-11 12:12:11 +01:00
RomanBapst
2b75d2e738 run fog check independently from stuck check 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
8cedef2dc4 further cleanup 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
2c4d38e303 fixed mistake 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
806500fc4a further improve logic 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
73ade6d05c range finder: remove potential deadlock 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
RomanBapst
35da86c85a improve unit tests for range fog detection 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-02-11 09:08:25 +01:00
chfriedrich98
55f51d7e7e ackermann: refactor code architecture 2025-02-10 15:54:24 +01:00
Bertug Dilman
ce64263ce7
publish validated airspeed topic (#24302) 
* publish validated airspeed topic

* fix typo
 2025-02-07 14:44:48 +01:00
mahimayoga
69d95a6664 sf45: separate sensor yaw variable into FRD and sensor frames for clarity. 
Obstacle map is created in sensor frame, but scaling for vehicle orientation is done in vehicle FRD frame.
 2025-02-07 13:28:17 +01:00
mahimayoga
093b379b6b sf45/collision-prevention: replace repeated code with ObstacleMath library functions. 2025-02-07 13:28:17 +01:00
Pedro Roque
e7e76e2e21
Spacecraft build and bare control allocator (#24221) 2025-02-06 23:54:24 -05:00
Marco Hauswirth
de1ade8eb8
sensors/vehicle_air_data: only trigger the sensor fallback when the baro_fault flag switches from 0 -> 1 2025-02-06 23:47:32 -05:00
bresch
8d296a50f9 FlightTask: properly initialize EKF reset counters 
This fixes a race condition when switching from a flight mode that is
not a flight task (e.g.: stabilized). In this case, the reset counters
were initialized to 0 and deltas were applied to the first setpoints if
the EKF had any of its reset counters different from 0.
 2025-02-05 13:21:32 -05:00
Daniel Agar
bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
Hamish Willee
9e5cfa330a Commander: Quick calibration supports mag too 2025-02-04 21:58:03 -05:00
mahimayoga
48c0992a7d sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data. 
yaw_cfg is now read into the obstacle_distance message as the angle_offset. The offset is computed once at init and applied to each measurement.
 2025-02-03 17:17:35 +01:00
mahimayoga
31bff3e5bb sf45: change handle_missed_bins() function logic. 
To simplify logic for wrap-around cases and cases in which bins outside the FOV may be filled. Bin indices are offset such that the 0th bin is the first bin within the sensor FOV. This way we can always fill bins from smallest to largest index.
 2025-02-03 17:17:35 +01:00
mahimayoga
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
Perre
f7dadd9b89
Remove inclusion of rotors in library to enable test (#24286) 2025-02-03 15:51:55 +01:00
Julian Oes
a9214b3aa3
gimbal: don't spoof gimbal device (#24271) 
The current approach was wrong because the gimbal protocol now
handles the case properly where the autopilot is in charge of a
non-MAVLink gimbal.

This means that we don't need to send message "as if we were a gimbal
device" and instead set thet gimbal_device_id to 1 (up to 6) to indicate
we are in charge or a non-MAVLink gimbal.
 2025-01-31 12:59:41 +13:00
Matthias Grob
4c2e69b2e6 estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration 2025-01-30 18:45:10 +01:00
Matthias Grob
f142363575 HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes 
Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
 2025-01-30 18:45:10 +01:00
bresch
3b828e157a MC att: clarify prioritization algorithm 
Especially rename "mix" which is just the delta yaw angle
 2025-01-30 11:28:26 +01:00
Silvan
ddf591c4f5 Navigator: use FLT_EPSILON instead of 0.0001f for >0 float comparison 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-29 15:42:51 +01:00
Silvan
2f2e56c097 Navigator: replace custom NAV_EPSILON_POSITION with FLT_EPSILON 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-29 15:42:51 +01:00
Matthias Grob
7e47605871 batteryCheck: separate event messages for low, critical and emergency battery states 2025-01-29 15:32:47 +01:00
Balduin
41c4933e10 add standard vtol airframe 2025-01-29 11:15:00 +01:00
Bertug Dilman
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed (#24249) 2025-01-28 14:33:15 +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
Balduin
5bca71791a
SIH: clean up control surface configuration (#24205) 
* fix sign error in appropriate place

In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the
control surface deflection signs in generate_fw_aerodynamics to make the
1103 airframe work correctly. However, this breaks the 1101 airframe,
introducing sing errors there.

So, here the change in generate_fw_aerodynamics is reverted to the state
before PR #24175. Instead, the signs are set correctly by using
the HIL_ACT_REV bitfield in the respective airframe config files.

* match control surface parameters to SIH model
 2025-01-27 16:52:29 +01:00
Matthias Grob
165f644580 control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2025-01-27 08:43:11 +01:00
Matthias Grob
c1cab2d4e0 control_allocator: add unit for slew rate and reword description 2025-01-27 08:43:11 +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
alexklimaj
c3ba39f931 dshot: remove dshot 1200 2025-01-23 23:50:50 -05:00
Alex Klimaj
07e7c64e60
drivers/power_monitor/ina238: retry if read fails 
* ina238: retry if read fails
* ina238: increase retries and only publish not connected if register check fails
* ina238: use I2C resets
 2025-01-22 15:32:26 -05:00
Roman Bapst
045c8d9831
Mission feasibility checks: make adding new check less error prone (#24241) 
* make adding new feasibility checks less prone to errors

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

* Update src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 16:56:31 +01:00