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17704 Commits

Author SHA1 Message Date
oravla5
ee67e4bb28 RpmControl: class clean up 2025-01-14 14:55:34 +01:00
Matthias Grob
940fe45ba7 ControlAllocator: introduce helicopter rotor rpm controller 2025-01-14 14:55:34 +01:00
Silvan Fuhrer
e4e975806f Enable CONFIG_EKF2_AUX_GLOBAL_POSITION by default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-14 02:19:49 -05:00
Jacob Dahl
0fb8463b79
logger: always log can_interface_status (#24071) 
* logger: always log can_interface_status

* logger: log topic can_interface_status using CONFIG_BOARD_UAVCAN_INTERFACES
 2025-01-13 10:15:40 -07:00
mahimayoga
879e0ea9b1 MC-hte: use allocated thrust as input for hover thrust estimator. 
Improves estimates on vehicles where thrust is often saturating.
 2025-01-13 11:56:09 +01:00
mahimayoga
28fa044386 MC-stabilized: rescale thrust input to hover thrust at zero stick input 
Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
 2025-01-13 11:56:09 +01:00
Jaeyoung-Lim
f5c05f6d01 Take 2: Cleanup circular dependencies ActuatorEffectiveness 2025-01-13 09:29:42 +01:00
Jaeyoung Lim
208d37e703
Remove circular dependency if control allocation (#24195) 
... and actuator effectiveness
 2025-01-10 16:58:15 +01:00
Balduin
a231fafafa
SIH: Add Standard VTOL Airframe (#24175) 
* add standard vtol airframe to SIH.

mostly took changes from 4d930bde and applied to main.

generate_fw_aerodynamics now takes four arguments rather than using the
_u class member, because depending on vehicle type _u is used
differently.
 2025-01-09 15:40:06 +01:00
Jari Nippula
cbbbbc9dfa logger: fix file open issue if crypto algorithm is disabled 
move init_logfile_encryption() call after the buffer start_log() call
to have log file already open while storing the header and key data to
the beginning of the file.
 2025-01-09 07:45:09 +01:00
bresch
ab70ae3252 ekf2: fix GNSS drift false alarm 
In SIH, the GNSS signal is zero-mean, but apparently not symmetric. The
issue is that saturating such a signal creates an artificial bias. This
made the check fail as the bias was above the threshold.
 2025-01-08 21:40:25 -05:00
mahimayoga
c3e370b946 MC land detector: fix parameter description for LNDMC_ROT_MAX 2025-01-08 18:03:35 +01:00
mahimayoga
b4273bde25 FW land detector: Introduce max rotational speed condition (new param: LNDFW_ROT_MAX). 
Checks that the filtered norm of the angular velocity is below LNDFW_ROT_MAX.
 2025-01-08 18:03:35 +01:00
mahimayoga
18b4b18a75 FW land detector: do not check for groundspeed if invalid. 
In case the local position speed estimate is not valid, it is assumed to be 0m/s and
thus check always passes.
 2025-01-08 18:03:35 +01:00
Silvan Fuhrer
585e5d1482 MissionBase: remove unused param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer
d98a706380 RTL fast reverse: enable precision landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer
368bbfeb3b RTL params: make clear that RTL_PLD_MD does not apply for mission RTL destinations 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer
e29c86c81f rtl_direct: don't check RTL_PLD_MD param twice but use _mission_item.land_precision 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
Silvan Fuhrer
0ecc8278b6 Navigator: RTL_direct: onyl start precision land if param is set to enable 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-08 09:31:55 +01:00
RomanBapst
1abc27dd1f remove fixed-wing condition from airspeed fusion condition 
- enables airspeed fusion to begin during transition already
- airspeed fusion is started based on airspeed being above defined threshold

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2025-01-07 16:19:33 +01:00
bresch
b1773df441 ekf2: fix comments about primary height sources 
Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
 2025-01-07 10:23:13 +01:00
Silvan
8070a9b362 Commander: remove not used include of blocks.hpp 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-06 09:24:29 +01:00
Alex Klimaj
1043aebf5d
analog_battery: add option for filter (#23987) 2025-01-03 16:01:16 +01:00
bresch
f1a339e7c6 fw-att: avoid multiple conversions 2025-01-03 15:07:52 +01:00
bresch
9bf5257e0e fw-att: fix wheel controller 2025-01-03 15:07:52 +01:00
Silvan Fuhrer
e2ea48bb79 Simulation: add SystemPowerSimulator to publish SystemPower.msg in sim 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-03 14:07:15 +01:00
Silvan Fuhrer
eac12ee9ce BatterySimulation: remove unused _battery_pub 
The simulated battery is published by the regular battery class.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-01-03 14:07:15 +01:00
Nicolas MARTIN
4fe6d69966
local position acceleration: use mean value between two publications (#24105) 
To avoid aliasing on the ned acceleration, add an accumulation of acceleration to improve the downsampling
 2025-01-03 12:43:39 +01:00
bresch
c1589ddb18 ekf2-rng: do not continuously reset terrain in rng height ref 
When the height reference datum is ground level (range finder height
ref), the terrain state is not updated through fusion and should stay at
a constant altitude.
 2025-01-03 12:25:16 +01:00
Jacob Dahl
0b1838f233 test: add test for range finder fusion while on ground 2025-01-03 12:25:16 +01:00
Mahima Yoga
defccfa99b
Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations (#24107) 2024-12-20 14:47:22 +01:00
Roman Bapst
b765769f50
Navigator: Set altitude acceptance radius to infinity when moving to land point after transition (#24115) 
* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-12-20 09:21:32 +01:00
Matthias Grob
61961350f9 mavlink_receiver: don't publish out of range joystick input 
Note that the MAVLink definition explicitly writes
"A value of INT16_MAX indicates that this axis is invalid."
which before this change was happily executed.
 2024-12-19 17:59:41 +01:00
Matthias Grob
5cf85e320a offboardCheck: acceleration setpoints only require vehicle attitude control 2024-12-19 17:58:38 +01:00
Matthias Grob
ad799b64b7 mc_pos_control: shorten parameter descriptions to a readable size 2024-12-19 16:12:43 +01:00
Matthias Grob
1239f0aaed FlightTaskTransition: Comment why using invalid horizontal velocity works 2024-12-19 16:00:21 +01:00
Matthias Grob
34bcc277a5 FlightTaskTransition: keep high decelration when overshooting the transition target 2024-12-19 16:00:21 +01:00
Matthias Grob
11d7dd41fd FlightTaskTransition: clean up and simplify 2024-12-19 16:00:21 +01:00
Matthias Grob
839010eeab Navigator: make ADSB handling optional 2024-12-19 15:30:34 +01:00
Pernilla
be42c7c88a Adding min-max angles to use for normalized servo outputs 2024-12-19 09:57:55 +01:00
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) 
* Adding gimbal rate in gz simulation

* add submodule
 2024-12-18 16:25:12 +01:00
bresch
6b10f1ca12 ekf: update change indicator 
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 
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 
This saves flash and makes code simpler
 2024-12-18 09:33:11 +01:00
Julian Oes
98fde4cbac gimbal: correctly set gimbal_device_id 
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 
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