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27140 Commits

Author SHA1 Message Date
Silvan Fuhrer cbc4c35bcf Commander params: improve meta data for max flight time and wind 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Silvan Fuhrer 6d84da5cf1 Commander: add max flight time warning (starting at 90%) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Beat Küng b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Beat Küng a8628c9d9c fix commander: clear takeoff_time only on disarm 
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
 2023-02-01 08:48:09 +01:00
Beat Küng 8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng 7988491e37 failsafe simulator: improve spacing for multi-line checkboxes 
Reduces line-height to 100% in that case.
 2023-02-01 08:48:09 +01:00
ShiauweiZhao 931f602995 drivers/imu/invensense: new IAM-20680HP IMU driver (#21025) 2023-01-31 09:33:26 -05:00
Julian Oes b1fc0ca0d0 mavlink: always forward messages to/from USB 
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.

With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes 0446292c75 mavlink: always use public method 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -05:00
Julian Oes 7b8cf4913e mavlink: show forwarding status 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-30 10:46:14 -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 efe1d43550 ekf2: 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
Hamish Willee f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
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 0c735dea2e AirspeedSelector: use scientific notation for small param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 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
PX4 BuildBot 21ddb04856 Update submodule mavlink to latest Sat Jan 28 00:39:00 UTC 2023 
- mavlink in PX4/Firmware (fa65292bb7542cb1f2a4cdaac10738fa17777a6d): https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
    - Changes: https://github.com/mavlink/mavlink/compare/74dee05f0cd121ae27e021d011a04b161c9d0440...e3b8756e37cd2cd01ba658461bb4dbffb2fdf914

    e3b8756e 2023-01-25 olliw42 - update storm32.xml (#1941)
 2023-01-27 21:14:07 -05:00
Silvan Fuhrer 48f2b42e12 FWPositionController: remove factor of 2 for switching to LOITER if altitude is not reached 
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-27 16:51:30 +03:00
Eric Katzfey e862fde084 ver: use PX4_INFO_RAW and add vendor version (#21008) 2023-01-27 07:13:37 +01:00
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
Eric Katzfey aae431e4d5 Removed unused variables in LED driver that were causing fatal build errors on Qurt platform (#21007) 2023-01-25 16:35:56 -08:00
Silvan Fuhrer a210c96aa9 Commander: ssimplify error messages for LOITER rejection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +01:00
Silvan Fuhrer 148ffe4e25 add support for DO_CHANGE_ALTITUDE 
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +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
modaltb 20b7a8c9f6 drivers/actuators/modalai_esc --> modal_io and rename UART_ESC prefix to MODAL_IO (#20995) 2023-01-24 20:24:58 -05:00
Benjamin Perseghetti 60de5b3ea4 simulation/gz_bridge: remove proceeding px4_ from servos in gazebo model (#20998) 
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 19:56:11 -05:00
Benjamin Perseghetti 684b4a4b8a simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989) 
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-01-24 19:01:45 -05:00
Daniel Agar 64c2ec5eea simulation/gz_bridge: remove cmake CONFIGURE_DEPENDS 
- PX4 build system simulation targets are optional and no longer
strictly required
 2023-01-24 13:58:30 -05:00
Daniel Agar 9cb6de8010 simulation: relax jmavsim java requirements (finding vecmath.jar) 2023-01-24 13:56:24 -05:00
Daniel Agar 3b543c7700 mavlink: serialize mavlink generation to prevent broken output 
- let uAvionix generation fully complete before generating CONFIG_MAVLINK_DIALECT
 2023-01-24 13:49:28 -05:00
JaeyoungLim 644aeb9153 support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) 
* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
 2023-01-24 09:22:53 -05:00
Jiangxuan Chen c31867f104 support for KakuteH7v2, KakuteH7mini, and BMI270 IMU driver (#20545) 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-01-22 19:41:39 -05:00
Daniel Agar 7c9dcd1985 drivers/uavcan: silence noisy libuavcan cmake version deprecation warning for now 
- keep drivers/uavcannode cmake in sync with drivers/uavcan
 2023-01-22 14:48:43 -05:00
Daniel Agar 1b46028fd3 mavlink: generate mavlink quiet by default (stdout redirected to log file) 2023-01-22 14:45:41 -05:00
bresch 6e30f8f5cb ekf2: use dedicated aid_src message for flow for terrain aiding 2023-01-21 15:31:19 -05:00
bresch b4b48cae75 ekf2: terrain flow - migrate to Symforce 2023-01-21 15:31:19 -05:00
Daniel Agar 3f842f01a0 simulator/gz_bridge: split actuator outputs for ESCs and servos (#20979) 
- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)
 2023-01-21 14:44:09 -05:00
modaltb c0e8508b01 actuators/modalai_esc/modalai_esc: fix ESC ID to Motor remap regression (#20977) 2023-01-21 12:57:02 -05:00
Daniel Agar 1aa8ec4537 drivers: initial VectorNav (VN-100, VN-200, VN-300) support 2023-01-20 19:09:30 -05:00
Daniel Agar bd9d09663f commander: avoid uint64 timestamp implicit float conversions 
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
 - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
 2023-01-19 17:48:40 -05:00
Silvan Fuhrer f3cdf70732 VTOL: Quad-chute: rework loss of altitude condition 
Previously the condition was based on hard coded height rate estimate and
setpoint values and an altitude error threshold. That showed to be leading
to false positives when the vehicle doesn't tightly follow the altitdue
ramp given by TECS to achieve a new altitude setpoint, and has become
completely infeasibly with the latest TECS rework that leads to non-ramped
altitude setpoint changes in the tecs_status message.
The new check no longer checks the altitude error but only the height rate
instead. It begins to integrate the height rate error once it detects an
uncommanded descend condition (height rate negative while setpoint is
positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-19 09:36:09 +01:00
Silvan Fuhrer 36dc75bedf VTOL: introduce new quad-chute check for altitude loss during front transition 
By default the threshold is set to 10m.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-19 09:36:09 +01:00
Beat Küng 98705ced2f lightware_laser_i2c: fix unreliable startup detection 
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
 2023-01-18 23:02:56 -05:00
alexklimaj 7c2da8d1ef Enable ARKV6X SPIX SYNC, enable icm426889 and iim42652 CLKIN 2023-01-18 21:52:11 -05:00
Daniel Agar 6a64e74ef3 icm42688p: fix register bank selection 
* icm42688p: clear INT_CONFIG1 INT_ASYNC_RESET for proper INT1/INT2 pin operation
 2023-01-18 11:08:03 -05:00