e4e975806f
Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-14 02:19:49 -05:00
0fb8463b79
logger: always log can_interface_status ( #24071 )
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* 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
879e0ea9b1
MC-hte: use allocated thrust as input for hover thrust estimator.
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Improves estimates on vehicles where thrust is often saturating.
2025-01-13 11:56:09 +01:00
28fa044386
MC-stabilized: rescale thrust input to hover thrust at zero stick input
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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
f5c05f6d01
Take 2: Cleanup circular dependencies ActuatorEffectiveness
2025-01-13 09:29:42 +01:00
208d37e703
Remove circular dependency if control allocation ( #24195 )
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... and actuator effectiveness
2025-01-10 16:58:15 +01:00
a231fafafa
SIH: Add Standard VTOL Airframe ( #24175 )
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* add standard vtol airframe to SIH.
mostly took changes from 4d930bde
2025-01-09 15:40:06 +01:00
cbbbbc9dfa
logger: fix file open issue if crypto algorithm is disabled
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move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
2025-01-09 07:45:09 +01:00
ab70ae3252
ekf2: fix GNSS drift false alarm
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In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The
issue is that saturating such a signal creates an artificial bias. This
made the check fail as the bias was above the threshold.
2025-01-08 21:40:25 -05:00
c3e370b946
MC land detector: fix parameter description for LNDMC_ROT_MAX
2025-01-08 18:03:35 +01:00
b4273bde25
FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX).
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Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.
2025-01-08 18:03:35 +01:00
18b4b18a75
FW land detector: do not check for groundspeed if invalid.
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In case the local position speed estimate is not valid, it is assumed to be 0m/s and
thus check always passes.
2025-01-08 18:03:35 +01:00
585e5d1482
MissionBase: remove unused param
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-08 09:31:55 +01:00
d98a706380
RTL fast reverse: enable precision landing
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-08 09:31:55 +01:00
368bbfeb3b
RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-08 09:31:55 +01:00
e29c86c81f
rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-08 09:31:55 +01:00
0ecc8278b6
Navigator: RTL_direct: onyl start precision land if param is set to enable
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-08 09:31:55 +01:00
1abc27dd1f
remove fixed-wing condition from airspeed fusion condition
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- enables airspeed fusion to begin during transition already
- airspeed fusion is started based on airspeed being above defined threshold
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-01-07 16:19:33 +01:00
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
8070a9b362
Commander: remove not used include of blocks.hpp
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-06 09:24:29 +01:00
1043aebf5d
analog_battery: add option for filter ( #23987 )
2025-01-03 16:01:16 +01:00
f1a339e7c6
fw-att: avoid multiple conversions
2025-01-03 15:07:52 +01:00
9bf5257e0e
fw-att: fix wheel controller
2025-01-03 15:07:52 +01:00
e2ea48bb79
Simulation: add SystemPowerSimulator to publish SystemPower.msg in sim
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-03 14:07:15 +01:00
eac12ee9ce
BatterySimulation: remove unused _battery_pub
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The simulated battery is published by the regular battery class.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-03 14:07:15 +01:00
4fe6d69966
local position acceleration: use mean value between two publications ( #24105 )
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To avoid aliasing on the ned acceleration, add an accumulation of acceleration to improve the downsampling
2025-01-03 12:43:39 +01:00
c1589ddb18
ekf2-rng: do not continuously reset terrain in rng height ref
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When the height reference datum is ground level (range finder height
ref), the terrain state is not updated through fusion and should stay at
a constant altitude.
2025-01-03 12:25:16 +01:00
0b1838f233
test: add test for range finder fusion while on ground
2025-01-03 12:25:16 +01:00
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations ( #24107 )
2024-12-20 14:47:22 +01:00
b765769f50
Navigator: Set altitude acceptance radius to infinity when moving to land point after transition ( #24115 )
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* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-12-20 09:21:32 +01:00
61961350f9
mavlink_receiver: don't publish out of range joystick input
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Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
2024-12-19 17:59:41 +01:00
5cf85e320a
offboardCheck: acceleration setpoints only require vehicle attitude control
2024-12-19 17:58:38 +01:00
ad799b64b7
mc_pos_control: shorten parameter descriptions to a readable size
2024-12-19 16:12:43 +01:00
1239f0aaed
FlightTaskTransition: Comment why using invalid horizontal velocity works
2024-12-19 16:00:21 +01:00
34bcc277a5
FlightTaskTransition: keep high decelration when overshooting the transition target
2024-12-19 16:00:21 +01:00
11d7dd41fd
FlightTaskTransition: clean up and simplify
2024-12-19 16:00:21 +01:00
839010eeab
Navigator: make ADSB handling optional
2024-12-19 15:30:34 +01:00
be42c7c88a
Adding min-max angles to use for normalized servo outputs
2024-12-19 09:57:55 +01:00
6241db74db
mavlink: stream RAW_RPM message for ONBOAR_LOW_BANDWIDTH
2024-12-19 07:30:25 +01:00
c463cc42d0
RPM: clean up message
2024-12-19 07:30:25 +01:00
8a9391321d
Adding gimbal rate in gz simulation ( #24125 )
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* Adding gimbal rate in gz simulation
* add submodule
2024-12-18 16:25:12 +01:00
6b10f1ca12
ekf: update change indicator
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The calculation of "alpha" in the accel_horiz and height_rate lowpass
filters is slightly different than before.
2024-12-18 14:11:08 +01:00
480c232bfd
ekf2: use alpha filter class
2024-12-18 14:11:08 +01:00
fa5a781e20
AlphaFilter: set time constant instead of alpha
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Then the update function can set the dt at every iteration if needed
2024-12-18 14:11:08 +01:00
0561f6c9fc
GZ: add gimbal simulation ( #23382 )
2024-12-18 12:15:03 +01:00
4a73195007
yaw_est: store attitude as quaternion instead of DCM
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This saves flash and makes code simpler
2024-12-18 09:33:11 +01:00
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
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
6969e5b6b4
ekf2: do not pre-compute airspeed Kalman gain
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The generated code is not much faster than the simple matrix-vector
multiplication
2024-12-17 22:32:16 -05:00
e7145e7b44
uxrce_dds_client: include distance sensor in dds_topics.yaml
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2024-12-17 22:28:40 -05:00
Silvan Fuhrer