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Author SHA1 Message Date
Julian Oes
e3b98e6ed2 Tools: remove unused/wrong define and fix comment 2025-01-22 11:26:10 -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
RomanBapst
57fdda597b vtol_takeoff: store altitude on takeoff and don't use home position altitude 
as vehicle does not need to be close to home position

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-22 14:03:18 +03:00
PavloZMN
ee150a15b4
Optical Flow: add unit testes for only using downward distance sensor (#23266) 
* Test for Optical Flow checks correct camera position

* Formatting fixed

* Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp

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

* For test GIVEN/WHEN/THEN added

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-22 11:58:07 +01:00
bresch
caaae6ed51 ekf2: allow sideslip fusion to always start with airspeed fusion 
This allow sideslip fusion to start during VTOL front transition or even
on a multirotor with a vertical stabilizer and an airspeed sensor for example.
 2025-01-22 09:33:16 +01:00
Jacob Dahl
1900d2c98f
uavcan: fix hw_errors from mutex lock, hide ESC/Servo status if no function set (#23888) 2025-01-22 12:48:05 +13:00
Jacob Dahl
a3215419d7
gz: remove model spawn offset (#24165) 2025-01-22 12:47:25 +13:00
Jacob Dahl
918eca8de4
gz: increase timeout for service request (#24164) 
* gz: increase timeout for service request

* change error messages to warnings, specify retrying

* fix typo
 2025-01-21 22:14:38 +01:00
Alex Klimaj
8d1bfb77c6
boards: ark fpv add gimbal module (#24229) 2025-01-21 08:59:37 -09:00
RomanBapst
f36b45b2ff VehicleOpticalFlow: use 32bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
RomanBapst
c7e494b8d9 VehicleImu: use 32 bit integer for dt 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
RomanBapst
25e76883b7 Integrator: use 32bit integer to store dt to avoid overflow 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-21 16:48:33 +03:00
Matthias Grob
af062c85eb Revert "FLightTaskAuto: limit nudging speed based on distance sensor" 
This reverts commit 97cb933cff6d837e59dd55123804cd78abdca22a.
 2025-01-21 09:59:47 +01:00
Marco Hauswirth
7a9608e54b
increase EKF2_RNG_FOG for FW and VTOL 2025-01-20 14:43:30 -05:00
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
Mathieu Bresciani
0d22905558 VTOL params: fix param name 2025-01-20 15:50:06 +01:00
Pedro Roque
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
mahimayoga
65a8cc0e0a sf45: scale measured distance with pitch and roll. 
Calls function from ObstacleMath library that accounts for the vehicle's attitude w.r.t the obstacle. Obstacles are assumed to be flat, vertical walls.
 2025-01-20 11:11:29 +01:00
mahimayoga
ab46502cbd obstacle-math: add unit tests for project_distance_on_horizontal_plane function. 2025-01-20 11:11:29 +01:00
mahimayoga
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
Daniel Agar
b1ca0495e2 ekf2: yaw estimator additional validity checks 2025-01-20 09:45:41 +01:00
Balduin
1eb9434b8c stream ATTITUDE_QUATERNION in low bandwidth mode 2025-01-17 11:20:12 +01:00
Matthias Grob
f693fab7c8 rc_update params: remove comment about default static mixing 
Was added back in 2014:
7441efde4745c0dddc08a36a0bbf83307f82948a
 2025-01-17 08:18:42 +01:00
alexklimaj
33841cf438 Update GPS submodule 2025-01-15 11:54:04 -05:00
bresch
c99cb6e94b ekf2: do not auto-generate sideslip measurement jacobian 
This is to trade a bit of CPU load for more flash space.
 2025-01-15 11:05:50 -05:00
Matthias Grob
e01fef755a Control allocation: make heli rpm control an optional build flag disabled by default 
to save flash.
The rpm capture dirver is also disabled on default releases
 2025-01-15 14:35:35 +01:00
Mathieu Bresciani
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
Jaeyoung Lim
974446c0e8
Make control allocation and actuator effectiveness a non-module-specific library (#24196) 
* 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
Minderring
3064a4ad4c boards configs: add airspeed driver for micoair743 aio and v2 2025-01-14 21:45:49 -05:00
PX4 BuildBot
9f8325e8e0 Update submodule mavlink to latest Wed Jan 15 00:39:11 UTC 2025 
- mavlink in PX4/Firmware (fd5b52d4c53f35a520646a6c4ec75588f6b87e0f): 5e3a42b8f3
    - mavlink current upstream: 619947d8bc
    - Changes: 5e3a42b8f3...619947d8bc

    619947d8 2024-12-19 Hamish Willee - common.xml - PING fix (#2197)
2f44ceff 2024-12-18 Julian Oes - common: use camera ID for CAMERA_IMAGE_CAPTURED (#2196)
 2025-01-14 21:45:04 -05:00
bresch
12a9087e92 ekf2: constrain max variance by zero innovation update 
Clipping the variance of the covariance matrix has a destabilizing
effect as it increases the correlation between the states.
 2025-01-14 21:42:33 -05:00
Ramon Roche
0723f75993 ci: move to px4 git tag versions 2025-01-14 13:10:56 -05:00
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
b584f8381c Helicopter defaults: don't auto disarm so quickly after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob
5e2848312d Commander: start timer for auto disarm after spoolup 2025-01-14 14:55:34 +01:00
Matthias Grob
2506bd3b5d RpmControl: simplify the entire control logic 2025-01-14 14:55:34 +01:00
Matthias Grob
1c4325db6d RpmControl: split into cpp source file fixing includes 2025-01-14 14:55:34 +01:00
Matthias Grob
2772ae7e0e RpmControl: maximum rpm outliers are now caught by RpmCapture 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
4050cedfaf RpmControl: call local message instance after message name following the convention 2025-01-14 14:55:34 +01:00
Matthias Grob
cd0e04f8b0 RpmControl: name current timestamp now following the convention 2025-01-14 14:55:34 +01:00
oravla5
ee67e4bb28 RpmControl: class clean up 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
Matthias Grob
50092a7f67 NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged 2025-01-14 10:32:00 +01:00
alexklimaj
e89a79b382 boards: disable multi ekf on all ark flight controllers 2025-01-14 02:29:07 -05:00
Silvan Fuhrer
a16f7859ac boards: disable CONFIG_EKF2_AUX_GLOBAL_POSITION on some boards 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
Silvan Fuhrer
e4e975806f Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
Jacob Dahl
0fb8463b79
logger: always log can_interface_status (#24071) 
* logger: always log can_interface_status

* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
 2025-01-13 10:15:40 -07:00
mahimayoga
879e0ea9b1 MC-hte: use allocated thrust as input for hover thrust estimator. 
Improves estimates on vehicles where thrust is often saturating.
 2025-01-13 11:56:09 +01:00
mahimayoga
28fa044386 MC-stabilized: rescale thrust input to hover thrust at zero stick input 
Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
 2025-01-13 11:56:09 +01:00