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3179 Commits

Author SHA1 Message Date
Daniel Agar
4d9369dc67
Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
bresch
6bee0893de add circle intersection unit tests 2023-03-22 10:03:48 +01:00
bresch
af345c88e9 TrajMath: use fmaxf instead of max 2023-03-22 10:03:48 +01:00
bresch
c7bddda1db MC auto: add maximum RC assist distance during landing 2023-03-22 10:03:48 +01:00
Matthias Grob
9f8fa99d70 matrix: use stack allocation for debug output string 2023-03-21 15:01:26 +01:00
Matthias Grob
b1435c6e34 matrix: use output stream function template 
to enable proper automatic output in gtest unit tests
that compare two `Matrix`, `Vector` or two `Dual` objects.

Credits to @jwidauer for showing me this trick.
 2023-03-21 15:01:26 +01:00
Matthias Grob
b0189d95af Use new Vector4 class 2023-03-21 15:01:26 +01:00
Matthias Grob
08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
Beat Küng
22c94f805a component information: add translation support 2023-03-20 21:57:25 -04:00
Silvan Fuhrer
28db47480d TECS: remove ununsed getSteRate() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 16:58:08 +01:00
Silvan Fuhrer
a1812dbde0 gimbal: move gimbal controls to new dedicated topic 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-16 11:55:45 +01:00
Silvan Fuhrer
b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
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
akkawimo
bcd6e7adee comment out fake_traffic to prevent flash overflow 2023-03-16 07:32:43 +01:00
Mohamad Akkawi
9de52bb5ec [navigator] Tone Down traffic warnings 
- 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
Silvan Fuhrer
9a038281c5 RoverPositionController: remove some unused stuff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer
feec8b2036 L1: remove some functions that Rover doesn't need 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-06 14:00:02 +01:00
Silvan Fuhrer
76116d79f9 TECS: remove umcommanded_descent flag 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer
527225357b TECS: remove unused TECS_MODE_CLIMBOUT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-01 10:39:09 +01:00
Silvan Fuhrer
837095b9a8
tecs: use FW_T_SINK_MIN for STE_rate_min (#21190) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 15:46:41 +01:00
RomanBapst
6e07af959f fixed bug in Matrix library 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-02-16 11:28:41 +01:00
Matthias Grob
6f4d903f45 Battery: address two comments from #2242 
- use a constant instead of magic number
- fix code comment typo
 2023-02-13 13:27:08 +01:00
Konrad
b9f9f25b48 parameter_translation: Add parameter translation for renamed L1 parameters 2023-02-09 17:51:55 +01:00
KonradRudin
c5d041a2f7
Rearrange npfg use path input (#21071) 
* [npfg]: Remove the guideToPoint function and replace with guideToPath

* [npfg]: remove unused navigateXXX functions

* [npfg]: Move navigateXXX Function into FWPoscontrol

* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
 2023-02-08 08:54:00 +01:00
Daniel Agar
661eb2adb4 lib/sensor_calibration: BiasCorrectedSensorOffset() don't incorporate thermal offsets 
- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
 2023-02-06 15:09:07 -05:00
Daniel Agar
47215bb625 lib/wind_estimator: symforce codegen remove reserved identifier naming 
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
 2023-01-30 09:24:32 -05:00
Daniel Agar
8da993c30e
Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-01-28 11:41:03 -05:00
Roman Bapst
4646762f9d Use multiplication instead of division 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
d32f400851 WindEstimator: use isAllFinite() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
a6d14796e4 WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
15335b194a WindEstimator: use state indexing enum consistently 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-28 10:31:17 -05:00
Silvan Fuhrer
88ec117e59 TECS: rename tecs_status.altitude_filtered to altitude_sp_ref 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer
5099a91f87 TECS: keep _pitch_integ_state in radians 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
Silvan Fuhrer
e16f98c2b6 FW Position controller: remove unused climbout arguments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-26 17:04:43 +01:00
KonradRudin
d3b7112dd9
[TECS]: If in airspeedless mode, add the throttle integrator term to the throttle setpoint, if the integrator term is positive. This should avoid reducing airspeed when switching to airspeedless mode. (#20987) 2023-01-25 09:16:11 +01:00
Julian Oes
35d6b734f5 perf: avoid leaks in dtor 
From what address sanitizer tells me, we need to tell delete what type
it is deleting.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-17 21:20:51 -05:00
Daniel Agar
45912066d2 fix copyright header year range 2023-01-14 09:16:16 -05:00
Eric Katzfey
ac80dcd7a8
Voxl2: add qurt i2c driver support and first i2c driver voxlpm 2023-01-13 19:59:41 -05:00
Peter van der Perk
fa87375d0c Add hardfault log progmem flash backend 2023-01-04 12:52:01 -05:00
Yannick Fuhrer
98529a5b49
Battery: delay initialization of SoC (#20729) 
* Battery: delay initialization of SoC

* battery: rework of battery initialization delay

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-12-26 18:44:22 +01:00
Eric Katzfey
c3e70b03aa
Add more to Voxl2 build and fix associated build errors (#20821) 
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
 - Replace non-standard M_PI constants with PX4 defined M_PI_F constants
 - Include missing header file for function hrt_absolute_time declaration
 - Add new PX4_SOC_ARCH_ID for the VOXL2 board
 2022-12-22 15:44:19 -05:00
Daniel Agar
f2cd7667dc systemcmds/bsondump: new command line utility (extracted from parameters) 2022-12-21 10:14:00 -05:00
Konrad
f5524fa605 TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter. 2022-12-21 09:04:19 +01:00
Konrad
08c36612b3 TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled. 2022-12-21 09:04:19 +01:00
Konrad
77539d4dac TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint. 2022-12-21 09:04:19 +01:00
Konrad
8c6dfc840b TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step. 2022-12-21 09:04:19 +01:00
Konrad
7a3e0f53c2 TECS: Replaced old tecs by cleaned up version. 2022-12-21 09:04:19 +01:00
Konrad
991689d3cd TECS: Add new tecs library in parallel to old tecs in the position control library for comparison. 2022-12-21 09:04:19 +01:00
Konrad
c64e111d8e TECS: Rearranged the TECS library into submodules. 2022-12-21 09:04:19 +01:00
Silvan Fuhrer
20342216e2
Airspeed Selector: use better density source and only save scale parameter if valid (#20764) 
* AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS

Previously the vehicle_air_data.temperature and pressure was used, instead of the
density field directly.
Only makes a difference if there is an airspeed sensor connected to provide
the air temperature.

* AirspeedSelector: only safe estimated scale in param if airspeed is valid

* AirspeedSelector: remove 0.01 cliff for saving learned scale to param

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-12-20 15:52:54 +01:00
Igor Misic
52275923ad adsb: add support for callsign 2022-12-20 08:18:09 +01:00