Silvan Fuhrer
3c129aefa1
Add IC engine control module ( #24055 )
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Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
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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 )
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* 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
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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
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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
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2025-02-18 14:33:16 +01:00
Silvan Fuhrer
3119510f25
Remove health_component::avoidance
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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
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- 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
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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
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Signed-off-by: Silvan <silvan@auterion.com>
2025-02-18 14:33:16 +01:00
Marco Hauswirth
d2cbe10243
Clean up temperature msg fields ( #24272 )
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* 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
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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
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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 )
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* 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
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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
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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
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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
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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
chfriedrich98
e8f8bc9af7
ackermann: add lateral acceleration setpoint, acro/position mode and updates to auto modes
2024-10-31 16:15:37 +01:00
chfriedrich98
6a7edac10d
ackermann: restructure module
2024-10-31 16:15:37 +01:00
Alex Klimaj
4d1c65d722
boards: new ARK FPV FC ( #23830 )
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* add new payload power switch (RC_MAP_PAY_SW)
2024-10-30 11:35:35 -04:00
Marco Hauswirth
0c451552c7
EKF2: add validity flags to global pos message ( #23787 )
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2024-10-23 10:19:04 +02:00
Mathieu Bresciani
28d960fc21
fix VehicleCommand.msg syntax
2024-09-30 13:42:50 -04:00
Daniel Agar
332b7bec27
commander: ignore REQUEST_CAMERA_INFORMATION
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- add answer command logging
2024-09-27 10:33:37 -07:00
Silvan Fuhrer
172948c5eb
FailsafeFlags: add comment where battery_warning is defined
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-09-27 14:25:27 +02:00
chfriedrich98
0e65679c9e
Mecanum rover: add dedicated module for mecanum rovers ( #23708 )
2024-09-25 09:35:41 +02:00
Alvaro Fernandez
2ecffff700
fw_tecs: Support tighter altitude tracking during low-height flight ( #23519 )
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* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold
* tecs: Applied smoothed-out altitude TC transition to landings
* fw_tecs: modified tighter altitude control for low-height implementation
* addressed PR comments
* addressed PR comments
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-09-19 16:24:53 +03:00
Matthias Grob
555b2e6abc
BatteryStatus: Clarify "incompatible voltage" error message
2024-09-18 17:18:02 +02:00
Konrad
82a7d0410c
DistanceSensorModeChangeRequest: renaming of variable
2024-09-16 09:11:23 +02:00
Konrad
e6f07bde2a
lightware_laser: add option to listen to system to enable/disable distance sensor
2024-09-16 09:11:23 +02:00
Konrad
4713a6737e
TECS: ramp up fast descend over 2_s to ramp down the throttle command
2024-09-13 14:04:39 +02:00
chfriedrich98
741ea6b707
differential: add individual parameters for speed and yaw rate feedforward
2024-09-11 13:57:27 +02:00
Roman Bapst
c94c1ce4d2
Navigator: Support straight line mission landings ( #23576 )
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* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
2024-09-10 17:44:24 +02:00
bresch
15e9c65a8f
dist-sensor: reduce enum names
2024-09-09 15:40:40 +02:00
Alexander Lerach
3d36c8519d
drivers/power_monitor: Implement temperature sensor support for INA228 / INA238
2024-09-05 23:09:01 -04:00
Matthias Grob
e4d25df58a
Consistently use "stick gesture" for "rc stick gesture"
2024-09-05 18:06:29 +02:00
