long is a 32-bit signed integer, which means the maximum it will hold is 0x7FFFFFFF.
strtol is overflowing, resulting in clamping the value to LONG_MAX (or 0x7FFFFFFF) and returns that instead.
Fixes by using strtoul, which corrects the returned value.
Can be tested by building a UAVCAN Node on the tag v1.16.1, flashing and checking the value displayed in dronecan_gui_tool. Screenshot added for convenience.
Protobuf-generated code in gz_msgs triggers -Wdouble-promotion warnings
from the Abseil library. Since this is external code we cannot modify,
disable the warning for this specific target.
Fixes#26533
* removed commented out parts
* changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp
* Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email
* added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero.
* fixed constant roll/pitch to be 0.0 again
* added parameter for maximum distance between controlled des height and current height.
Added state observation to reset the desired height to current height when altitude mode is turned on.
* added first short descriptions of manual modes.
* update descriptions
* removed vector dependency
* feat: updated gz submodule
* fix: newline
* fix: gz submodule
---------
Co-authored-by: Pedro Roque <roque@caltech.edu>
Refactor auxiliary global position fusion to support multiple AGP
sources. Add AgpSourceControl manager class that routes AGP messages
to the correct AgpSource instance based on configured source IDs.
Only instantiate AgpSource slots that have a configured ID on boot.
Move AGP subscriptions to manager class for correct message routing.
When switching modes, navigator resets the position setpoint triplet to
idle. In the case of entering RTL, it is not replaced immediately by the
correct triplet, but published once and only corrected a split second
later. This causes zero thrust to come from control_idle in
FixedWingModeManager
Fix by calling run(true) on the appropriate sub-mode at the end of
RTL::on_activation(), same as in the on_active just below.
The submode is in inactive at that point, but run(true) triggers:
- on_activation of the submode
- set_rtl_item, which calls:
- mission_item_to_position_setpoint
- _navigator->set_position_setpoint_triplet_updated
and therefore the navigator publishes the position setpoint triplet
immediately (which was already being correctly set).
Navigator: RTL: also update subs on actiavation
Navigator: RTL: also disable mission RTL if direct RTL
matching the logic in on_active exactly
* Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Note the separate module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.
This parameter was used to experimentally introduce the hover thrust estimator. First it was just logging its status and you could opt in to use it:
f9794e99f897b842e74a370e5fa77c281aeddce5
but soon after it became the default and you had to opt out of using it:
a8063ac94867c2990b0a80c6fdf0dccc835c3356
AFAIK we haven't seen problems requiring to disable it in the last 5 years and hence I suggest to remove the parameter to reduce the configuration space.
* Update src/modules/land_detector/MulticopterLandDetector.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* undo docs changes
* change redundant update() calls to copy()
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* ark fpv board_config: update battery ADC current filter time constant to 0.5s
* battery: add configurable voltage and current filter time constants
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
It was added at a time where the triplet target was directly fed as position setpoint to the controller.
Since the smoothing improvements to FlightTaskAuto(SmoothVel) and removing the previous "aggressive" FlightTaskAuto variant there should be no need anymore for this logic. It can sometimes lead to unexpected sideffects. E.g. the vehicle would suddenly change direction when exceeding some arbitrary threshold.
* FWModeManager: add option to set flag for disabling actuators during launch
Signed-off-by: Silvan <silvan@auterion.com>
* Allocation: add option to each control surface to be locked for launch
Signed-off-by: Silvan <silvan@auterion.com>
* FW rate control: reset integral while control surfaces are locked
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: mahima-yoga <mahima@auterion.com>
* Creating a base for grf lidar
* Serial Drive is working, need to work out distance publish
* WIP Getting Range Data in cm
* Working Rand Distance Values for GRF 250 and GRF500
* Review Changes
* Compiler fixes
* Update to date
* small update
* Fix typo and remover unused libs
* removing unused enum
* Update to the Documentation
* Fiving scaling issue
* update to the logic
* [Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425)
* Adding the GRF I2C driver
* I2C Driver Working
* Removing a lot of unnecessary code
* fixing names
* Changing the i2c Driver to be in the lightware laser
* remove the old driver
* formatting fix
* Adding Ligthware GRF to documentation
* Update to the Documentation
* Ensuring sample_perf ends
* Updating Docs
* uavcannode: implement hardpoint commands (#26334)
* implement cannode hardpoint commands
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* add hardpoint sub to ark cannode, simplify handling of hardpoint broadcast
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* voxl_esc: Limit frequency of UART passthru writes to 20Hz
* voxl2_io: Added UART passthru
* docs: update link for px4 ros2 interface lib python api docs
* estimator_interface: remove unused getter
* gnss_checks: always run strict checks on ground
With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.
* ekf2 unit-tests: adapt to strict GNSS checks on ground
* escCheck: rework online check to properly report offline ESCs
previous to this
09d79b221f274523349a029e63ab4462e41d0c1c
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.
So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
* FailureDetector: consistent timestamp naming
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Update src/modules/commander/failure_detector/FailureDetector.cpp
Prevent Buffer overflow
* Update Format
* Subedit
* Shrink and rename image
* Apply suggestion from @hamishwillee
Sounds good
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Apply suggestion from @hamishwillee
More universal approach
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Update to the Documentation
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Subedit
* docs: update parameter reference metadata
* Remove pregenerated files - that should all be tidied up next time this runs
* remover GRF parameters
* Documentation updates
* Fixing Merge Conflicts
* remove @
* Undo Changes to parameter_reference
* remove the code that will be autogen-ed
* Update the Camake File
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
Co-authored-by: Nick <145654544+ttechnick@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Add warning message in print_info() to alert users that CAN error counter
values may increase during the function call due to internal counter reading
implementation. Users should not fully trust these counters until the
underlying issue is fixed.
Co-authored-by: ljarvela <lasse.jarvela@iceye.com>
* feat: implement UAVCAN LED control for individual light control and assignment
* uavcan led: nit-picks from review
* uavcan led: reduce maximum number of lights
to avoid unused parameters
* uavcan led: simplify anticolision on check
* uavcan led: correctly map 8-bit RGB to rgb565
* Trim param name character arrays to 17
16 characters + \0 termination
* uavcan led: final nit-picks
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* RtlTimeEstimator: Consider minimum ground speed
This fixes an issue seen when the wind is faster than the trim airspeed,
but not faster than the max airspeed.
In that case the RTL time estimator currently assumes that we always fly
at trim airspeed and are thus unable to cover ground in the upwind
direction. The result is a very large RTL time estimate, resulting in
RTL if configured by COM_FLTT_LOW_ACT.
By considering the FW_GND_SPD_MIN parameter, we correct this wrong
assumption. The RTL remaining time estimate now becomes realistic in
this situation.
* RtlTimeEstimator: assume min ground speed of 5 if param unavailable
