491ee01ac4
rpm_capture: add rpm capture driver, publising pwm_input (for now)
2024-12-19 07:30:25 +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
37401d6fd1
AlphaFilter: allow setting dt in update call
2024-12-18 14:11:08 +01:00
9e9d352eb2
mavlink: update submodule
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MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
2024-12-18 07:12:36 +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
4db55cd25f
mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
d7904b5f2c
mixer: FunctionMotors: leave NAN control values at NAN with non-zero THR_MDL_FAC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-12-13 17:56:46 +01:00
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
a280d67be8
PID: Fix test to respect integral updates being applied in the next iteration
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
f9bcbc31ae
PID: protect from division by zero because of dt
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Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-11-26 16:13:48 +01:00
b89c53d28c
Replace old pid library with new one
2024-11-26 16:13:48 +01:00
e047972cde
Add new C++ PID library
2024-11-26 16:13:48 +01:00
2f65644aeb
mixer module: remove unused functions
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-21 11:57:50 -05:00
db13b9cb50
CollisionPrevention: Added Case where velocity gets reduced to zero if we are closer to the obstacle than the minimal distance
2024-11-21 11:36:03 +01:00
bbc59dcde7
CollisionPrevention: prevent illegal array index with malicious obstacle_dsitance message
2024-11-21 11:36:03 +01:00
1410325c62
CollisionPrevention: follow parameter variable naming convention
2024-11-21 11:36:03 +01:00
30eec33e09
CollisionPrevention: slightly simplify _transformSetpoint()
2024-11-21 11:36:03 +01:00
399a8ad5b7
CollisionPrevention: fix early return and use unified bin count + array size 72
2024-11-21 11:36:03 +01:00
f41a08aea8
CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change
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rewrite of obstacle_distance merging methods, and fix of various issues
2024-11-21 11:36:03 +01:00
b74dd57e7c
CollisionPrevention: restore rate limited warning for no data, minor cleanup
2024-11-21 11:36:03 +01:00
4c8c5fbb37
CollisionPrevention: only save quaternion and yaw on attitude update
2024-11-21 11:36:03 +01:00
001d722abd
CollisionPrevention: move main functions to the top in the order they get called
2024-11-21 11:36:03 +01:00
1fa76ac71d
CollisionPrevention: reduce internal array size, zero initialize what's possible
2024-11-21 11:36:03 +01:00
c879ca531d
CollisionPrevention: Clarify bin size definitions, move wrap functions into class
2024-11-21 11:36:03 +01:00
84dbbb4351
CollisionPrevention: clarify mode switch command to hold/loiter
2024-11-21 11:36:03 +01:00
50ee5bd1b4
CollisionPrevention: Sanitize input of _getObstacleDistance()
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It could cause array out of bound problems before.
2024-11-21 11:36:03 +01:00
eb06ace8e4
CollisionPrevention: fix matrix namespace
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don't use it in header such that clients are free to redefine the names
but include it in cpp files and make use of that.
2024-11-21 11:36:03 +01:00
0cd6a553b9
CollisionPrevention: rewrite for Acceleration based manual flight mode
2024-11-21 11:36:03 +01:00
5b66a1eff1
Fix generate component regex escape sequence
2024-11-19 09:31:11 +01:00
11fe5580cb
Update submodule libevents to latest Sat Nov 16 00:40:14 UTC 2024
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- libevents in PX4/Firmware (1f29c55e82fa22b95313bb0d10b63918718f9c0c): https://github.com/mavlink/libevents/commit/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
- libevents current upstream: https://github.com/mavlink/libevents/commit/9ef591c447fe0386d698bf6fb9a6d27e43988ee4
- Changes: https://github.com/mavlink/libevents/compare/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c...9ef591c447fe0386d698bf6fb9a6d27e43988ee4
9ef591c 2024-10-14 Beat Küng - pylint: increase max-positional-arguments from 5 to 7
7901a0c 2024-10-14 Beat Küng - pylint: update config (pylint version 14.2.1)
edc472e 2024-10-11 Beat Küng - refactor: change libevents to an INTERFACE library
2024-11-15 21:12:18 -05:00
b6daf83088
Un-inlined get_table_data
2024-11-15 12:01:06 -05:00
6d0b7f7ed1
Un-inlined rotate_3
2024-11-15 12:01:06 -05:00
3b0dac6840
RTL: fix RTL time estimation ( #23807 )
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* RTL Direct: fix rlt time prediction in final lanidng phase
It was previously checking if RTL was already running through
active(), which though actually is coming from the mission mode
that rtl_direct inherits from.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL Direct: remove unnecessary active() check
As the method setRtlPosition() is anyway not called when RTL is active,
plus it checks the wrong thing, as it is the active() method from
the Mission mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL Direct: remove unnecessary land_detector_sub.update()
It is already getting updated just before the .get()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL time estiate: do not distinguish land from sink for MC
To avoid rtl time prediction jump when entering LAND phase due
to no correct handling of loiter altitude (LAND phase doesn't
have to start only when lower then RTL_DESCND_ALT).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Revert "RTL Direct: remove unnecessary active() check"
This reverts commit d5165ba902e65839e792cc13197761c7f77748f9.
* Revert "RTL Direct: fix rlt time prediction in final lanidng phase"
This reverts commit 5af7c928fbf86d560dcd35dd9aea3e38f1e4c735.
* RTL: Make sure to call the initialilze function of the Navigator RTL modes
* RTL: use the navigator_mode run function instead of the on_xxx function directly
* RTL: Make sure that for vtol the right vehicle type is used for each RTL state
* RTL: move to loiter distance estimate should substract the loiter radius for fixed wing
* RTL: time prediction: do not assume VTOL is in FW at start of RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL: time estimation: fix is_in_climbing_submode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL: time estimation: subtract loiter radius from distance in rtl_direct_mission_land
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL direct: poll important topics also on_inactive such that time estimate is correct
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* navigator rtl: fix setter spacing
* navigator rtl: check pointer before dereferencing
* RTL: only subract loiter radius when in FW
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Konrad <konrad@auterion.com >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-10-24 17:22:19 +02:00
b9942ad7e0
lib/mixer_module: remove unused param MOT_SLEW_MAX
2024-10-14 10:03:30 +02:00
dbba9adb14
lib/rc/ghst: Added differentiation between GHST and CRSF ( #23805 )
2024-10-11 16:17:54 -04:00
fd04ece6d4
geo: remove dependency on drv_hrt time driver
2024-10-07 14:24:18 +02:00
5b85859bfe
Update submodule libevents to latest Wed Oct 2 12:39:22 UTC 2024
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- libevents in PX4/Firmware (c4ab09d088798a97b80f2cb834b2345e26d485ea): https://github.com/mavlink/libevents/commit/9474657606d13301d426e044450c4f84de2221be
- libevents current upstream: https://github.com/mavlink/libevents/commit/7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
- Changes: https://github.com/mavlink/libevents/compare/9474657606d13301d426e044450c4f84de2221be...7c1720749dfe555ec2e71d5f9f753e6ac1244e1c
7c17207 2024-08-21 Beat Küng - remove nlohmann json submodule and add header directly instead
ce60064 2024-08-16 Jonas Vautherin - Fix cmake_minimum_required
2024-10-02 15:09:53 -04:00
21a2350eca
version: Change this IF statement to a SWITCH statement
2024-09-24 10:27:12 +02:00
2ecffff700
fw_tecs: Support tighter altitude tracking during low-height flight ( #23519 )
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* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold
* tecs: Applied smoothed-out altitude TC transition to landings
* fw_tecs: modified tighter altitude control for low-height implementation
* addressed PR comments
* addressed PR comments
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-19 16:24:53 +03:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
555b2e6abc
BatteryStatus: Clarify "incompatible voltage" error message
2024-09-18 17:18:02 +02:00
Beat Küng