Matthias Grob
6241db74db
mavlink: stream RAW_RPM message for ONBOAR_LOW_BANDWIDTH
2024-12-19 07:30:25 +01:00
Matthias Grob
c463cc42d0
RPM: clean up message
2024-12-19 07:30:25 +01:00
Perre
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
bresch
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
bresch
480c232bfd
ekf2: use alpha filter class
2024-12-18 14:11:08 +01:00
bresch
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
Stefano Colli
0561f6c9fc
GZ: add gimbal simulation ( #23382 )
2024-12-18 12:15:03 +01:00
bresch
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
Julian Oes
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
Beat Küng
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
bresch
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
Andrew Brahim
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
Daniel Agar
8a18e5b00c
commander: accelerometer calibration respect rotation
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- accel cal use Accelerometer calibration class to fully respect
rotation (both internal and external sensors)
2024-12-17 22:26:01 -05:00
Jaeyoung Lim
fd87cd682d
Dynamically update ff gain for fw rate control ( #24120 )
2024-12-17 17:57:18 +01:00
Roman Bapst
93c25efb62
Fixed-wing Position Control: Split up control methods for VTOL backtransition ( #23893 )
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* split methods to control backtransition depening on availablity of position
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* fixed sign error and replace hardcoded number with constant
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* make changes such that controller holds initial heading during transition
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* use reference instead of copy
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* added comment
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* flash reduction
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2024-12-16 16:16:25 +03:00
Claudio Chies
1718b37fe4
SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design.
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other minor improvements
2024-12-16 10:49:13 +01:00
PX4 BuildBot
a751e900f5
Update submodule mavlink to latest Sat Dec 14 00:39:04 UTC 2024
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- mavlink in PX4/Firmware (661ae0c0e3ac493ceddd13120e8ccb5bac47d887): 0e420102db5e3a42b8f30e420102db...5e3a42b8f3#2169 )
25f4e9f0 2024-12-11 Hamish Willee - STANDARD_MODE_SAFE_RECOVERY + RTL merge (#2191 )
d5a8cb43 2024-12-11 Hamish Willee - Docs generate fix (#2194 )
35f70c4a 2024-12-05 Hamish Willee - Create index.md, dialects.md and make notes/warning work with vitepress (#2193 )
57c02856 2024-12-05 Hamish Willee - CAMERA_THERMAL_RANGE - no longer WIP (#2189 )
1ee2ebe1 2024-12-04 Hamish Willee - fetch_dialect_ardupilotmega.yml: Not fail if nothing to commit (#2181 )
1aa8c2d0 2024-12-04 Hamish Willee - ardupilotmega - remove_mav_cmd_external_estimate (#2187 )
49fa509a 2024-11-30 github-actions[bot] - ardupilotmega dialects from ArduPilot/mavlink: Fri Nov 29 23:49:36 UTC 2024 (#2185 )
75ebfc8f 2024-11-30 Hamish Willee - Update fetch_dialect_ardupilotmega.yml - fix copy error (#2184 )
8e97709d 2024-11-30 Hamish Willee - fetch_dialect_ardupilotmega.yml - add loweheiser (#2183 )
82b81aa8 2024-11-27 github-actions[bot] - ardupilotmega.xml from ArduPilot/mavlink: Wed Nov 27 04:13:16 UTC 2024 (#2178 )
5c421a33 2024-11-27 Hamish Willee - Speed uncertainty units /s (#2180 )
33f8a327 2024-11-24 David Sastre - Some modifications to multi-GCS protocol (#2179 )
9938f940 2024-11-21 Hamish Willee - fetch_dialect_ardupilotmega - create (#2177 )
a55d0ec5 2024-11-21 Hamish Willee - MAV_CMD_GROUP_START and _GROUP_END delete wip (#2176 )
1cf3c721 2024-11-21 Hamish Willee - dev: move FUEL_STATUS to common (#2170 )
7ecb8e33 2024-11-21 Hamish Willee - WIFI_NETWORK_SECURITY - wip removal (#2164 )
2024-12-13 20:57:48 -05:00
bresch
3941b19968
ekf2_replay: log groundtruth messages
2024-12-13 17:40:08 +01:00
bresch
3165a77e26
SIH-AGP: add sensor failure simulation
2024-12-13 17:40:08 +01:00
bresch
2a08d4bdb8
add SensorAgpSim to generate Aux Global Position data
2024-12-13 17:40:08 +01:00
GuillaumeLaine
4d62522942
uxrce_dds_client: remove unused msgdir arg from script
2024-12-13 16:34:37 +01:00
bresch
f9140fcd50
ekf2: set baro bias when GNSS is alt ref
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Do this even when GNSS altitude fusion is disabled.
2024-12-13 14:55:46 +01:00
bresch
fad9ae855d
EKF2: reset aid src when resetting state to measurement
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Filtered innovations and test ratios can be large before the reset and
would trigger pre-flight warnings
2024-12-13 14:26:57 +01:00
Jacob Dahl
eb829676b0
sim: gz: remove Garden from cmake
2024-12-13 13:20:20 +01:00
bresch
cc92979b06
ekf-agp: fix timeout
2024-12-12 15:49:04 +01:00
Riccardo Mengoli
09cd42911d
Mission: Replay gimbal cached items before reaching mission waypoint ( #24085 )
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When flying patterns, photos are sometimes taken while the gimbal is pitching up or down. To address this, we orient the gimbal before reaching the mission waypoint, allowing more time to complete the action. Additionally, we verify if the vehicle is climbing to avoid orienting the gimbal while on the ground.
2024-12-10 09:20:53 +01:00
Jari Nippula
2da944a834
Logger: combined key & cipher file
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Use one single .ulge file to store both wrapped symmetric key and
encrypted ulog data instead of creating separate .ulgk/ulgc files
2024-12-05 07:25:29 +01:00
Matthias Grob
d416cd2a6c
Commander: remove COM_POS_FS_DELAY
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A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
2024-12-03 17:31:56 +01:00
Perre
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout ( #24069 )
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* Avoid unsigned integer underflow
* ESC check: add brackets to timeout for readability
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
2024-12-03 17:14:09 +01:00
bresch
8626019ae0
EKF2: reset global position using variance
2024-12-03 13:04:25 +01:00
Perre
4696338d29
Add gz model for quadtailsitter ( #23943 )
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* Add gazebo airspeed plugin and add a tailsitter model
---------
Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>
2024-12-02 17:27:23 +01:00
chfriedrich98
be2a3afb83
mecanum: update parameter description
2024-12-02 10:54:43 +01:00
chfriedrich98
ff55313b0b
mecanum: update current position in main file
2024-12-02 10:54:43 +01:00
chfriedrich98
369ce37d65
mecanum: adjust speed setpoints to always be feasible
2024-12-02 10:54:43 +01:00
chfriedrich98
2eda5659eb
mecanum: fix inverse kinematics
2024-12-02 10:54:43 +01:00
chfriedrich98
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
chfriedrich98
54abc59283
mecanum: deprecate RM_MAN_YAW_SCALE
2024-12-02 10:54:43 +01:00
chfriedrich98
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
chfriedrich98
7e705bbf55
differential: add slow down effect in mission mode
2024-12-02 10:44:22 +01:00
chfriedrich98
8880569b31
differential: adjust speed setpoint based on yaw rate setpoint
2024-12-02 10:44:22 +01:00
bresch
8b1975cb98
SIH: lower IMU noise before takeoff
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This speeds-up the EKF alignment
2024-11-29 14:21:29 +01:00
bresch
cd18138b1c
SIH: add transport rate acceleration to local acceleration
2024-11-29 14:21:29 +01:00
bresch
674aa474e7
SIH: use LatLonAlt class
2024-11-29 14:21:29 +01:00
bresch
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
bresch
7cf42727fb
lla: add functions to convert from and to ECEF
2024-11-29 14:21:29 +01:00
bresch
7ee69d616d
SIH: rework FW ground contact
2024-11-29 14:21:29 +01:00
bresch
5d33971712
SIH: refactor MC ground contact
2024-11-29 14:21:29 +01:00
Marco Hauswirth
5d7b734bc9
SIH: ellipsoidal earth model
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SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com>
2024-11-29 14:21:29 +01:00
Matthias Grob
ce3fcd503f
navigator: unify timeout waiting for payload to execute mission item command
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Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
2024-11-28 20:23:36 +01:00
Matthias Grob
17c24bafbc
mission_block: simplify timeout check
2024-11-28 20:23:36 +01:00
