e8a8e7c677
VTOL: increase deafult of VT_QC_T_ALT_LOSS from 10 to 20m
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Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled
flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-24 13:33:52 +01:00
e58d33284a
vtol: correct/improve quad-chute param description
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-24 13:33:52 +01:00
937d27f8ee
Helicopter: add offset for yaw compensation based on collective pitch
2023-03-24 07:16:36 +01:00
1ea993880c
Fix typo in WORK_ITEM_TYPE ( #21311 )
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Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com >
2023-03-24 05:49:14 +01:00
5b6d1e9290
TECS: change default for FW_T_I_GAIN_THR from 0.3 to more appropriate 0.1
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-23 15:00:36 +01:00
ac6c9c857a
Gimbal: remove shutter and retraction handling
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-23 06:59:02 +01:00
d532578ecc
EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
98d07ad1f3
disable side slip fusion for tailsitters
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The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
07531d29b7
FailureDetector: fix attitude check for tailsitter
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-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
edc570adff
AirspeedSelector: fix attitude rotation for tailsitter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
c7bddda1db
MC auto: add maximum RC assist distance during landing
2023-03-22 10:03:48 +01:00
d6fa42fefd
mc att: add unit tests for AttitudeControlMath helper
2023-03-22 10:01:27 +01:00
edaf5bf0cd
mc att: extract tilt yaw error compensation to lib
2023-03-22 10:01:27 +01:00
f65daf7259
mc att: do not pass by euler angles to generate att sp from sticks
2023-03-22 10:01:27 +01:00
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
32a5bd32ad
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
2023-03-21 11:25:34 -04:00
0784901a66
ekf2: add kconfig option to enable/disable optical flow fusion
2023-03-21 11:25:34 -04:00
b0189d95af
Use new Vector4 class
2023-03-21 15:01:26 +01:00
08d6465ce5
matrix: add explicit Vector4 type
2023-03-21 15:01:26 +01:00
91364ba901
mc land detect: use z_deriv and vz for vert movement check
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z_deriv is less prone to bias errors
2023-03-21 09:22:58 -04:00
8497d3388f
fix mavlink_ulog: use hrt_abstime instead of float
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The float inaccuracy was leading to problems on SITL with large timestamps.
2023-03-20 21:47:41 -04:00
4363b09421
ekf2: add kconfig option to enable/disable external vision fusion
2023-03-20 10:12:17 -04:00
d47f96f1a5
ekf2: add kconfig option to enable/disable AUX velocity fusion
2023-03-20 10:12:17 -04:00
4270a303ab
ekf2: add kconfig option to enable/disable airspeed and sideslip fusion
2023-03-20 10:12:17 -04:00
98ff1afc19
ekf2: add kconfig option to enable/disable GNSS yaw
2023-03-20 10:12:17 -04:00
8b2205810b
ekf2: add kconfig option to enable/disable baro compensation
2023-03-20 10:12:17 -04:00
fe0e3acf09
ekf2: add kconfig option to enable/disable drag fusion
2023-03-20 10:12:17 -04:00
0afda910d1
VTOL: make sure that all virtual topics are updated
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-17 19:43:01 +01:00
c7d4d1f45c
FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
b33a8686f7
FWPositionController: only store acceleration and velocity in x
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
17cd65a239
Navigator: remove support for DO_SET_SERVO
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
a1812dbde0
gimbal: move gimbal controls to new dedicated topic
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
1218d9b2fc
mavlink_mission: remove support for DO_SET_CAMERA_ZOOM
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Camera controls should not happen through the flight controller, and
the control allocation has no means of controlling the camera zoom.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
27658354da
MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
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MC/FW rate controller and auto tuner: remove actuator_controls
AirshipAttControl: remove actuator_controls
MulticopterLandDetector: remove actuator_controls
mavlink streams vfr_hud and high_latency2: remove actuator_controls
RoverPositionController: remove actuator_controls
UUVAttitudeController: remove actuator_controls
battery: use length of thrust_setpoint for throttle compensation
VehicleMagnetometer: use length of thrust_setpoint for throttle compensation
Signed-off-by: Silvan Fuhrer
2023-03-16 11:55:45 +01:00
9de52bb5ec
[navigator] Tone Down traffic warnings
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- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
2023-03-16 07:32:43 +01:00
f0a95f9572
ekf2: add new kconfig option for multi-EKF
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- disabled if flash constrained or memory constrained
2023-03-15 09:32:47 -04:00
19a2b4ec31
ekf2: GNSS yaw only reset test ratio for new samples
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- otherwise external test ratio monitoring could trigger a false positive
2023-03-14 21:49:24 -04:00
e375e02974
Add GPS spoofing state
2023-03-14 20:28:32 -04:00
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
3bae99267b
fix(precland): Improved log messages ( #21289 )
2023-03-13 08:39:31 +01:00
9be8f81d75
flight_mode_manager: StickAccelerationXY protect from NAN velocity reset
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-03-10 08:17:20 -05:00
bd5838faf0
FlightTask: don't instaniate unused parameters
2023-03-09 17:40:55 +01:00
b3cc945a5a
ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()
2023-03-09 09:08:27 -05:00
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s ( #21264 )
2023-03-09 09:07:54 -05:00
60b85c2e1a
mavlink: add kconfig option to disable UAVCAN parameter bridge
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- depends on DRIVERS_UAVCAN
2023-03-08 19:30:06 -05:00
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)
2023-03-08 15:12:48 -05:00
132e9d2439
modeCheck: add warning when RC enabled but not present
2023-03-08 09:32:56 +01:00
898c0ae5a8
mode_requirements: refactor order of setting flags
2023-03-08 09:32:56 +01:00
7fa8dfe2d2
rcAndDataLinkCheck: always update manual control availability
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and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
2023-03-08 09:32:56 +01:00
Silvan Fuhrer