789b3880cf
Mission: set gimbal to neutral on inactivation
...
It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 13:19:09 +01:00
0d8ba587ca
Mission: set gimbal to neutral before landing item
...
To reduce risk of damage during landing.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 13:19:09 +01:00
178ea132b6
Navigator: add set_gimbal_neutral() functionality
...
To point the gimbal forward eg during landing to reduce chance of damage.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-12-01 13:19:09 +01:00
fe7988672f
ekf2: auxiliary position fusion
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
5a2efc1cb2
GotoControl: remove dependency on PositionControl
...
It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
2023-11-30 17:16:02 +01:00
c853acc2ff
GotoControl: also provide maximum velocity to position smoother
2023-11-30 17:16:02 +01:00
d1e8bdbd16
GotoControl: rename yaw rate acceleration parameter
...
such that not only one letter differs to MPC_YAWRAUTO_MAX
2023-11-30 17:16:02 +01:00
dc7f9165d1
logged_topics: fix goto_setpoint name
2023-11-30 17:16:02 +01:00
3de6fee07f
GotoControl: make interface over uORB
2023-11-30 17:16:02 +01:00
96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
be05b3e8d7
helper_functions: include defines for M_PI_PRECISE
...
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
2023-11-30 17:16:02 +01:00
efb325d25d
motion_planning: remove deprecated separate test
...
It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
2023-11-30 17:16:02 +01:00
4b920a6628
GotoControl: add go-to control interface to mc position controller
...
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
e47aba8bc9
msg: add go-to setpoint interface
2023-11-30 17:16:02 +01:00
33a3e568bb
boards: update all NuttX defconfigs
2023-11-29 20:54:34 -05:00
e627fe01dc
UXRCE_DDS_SYNCC default 0
2023-11-29 20:53:01 -05:00
42ce9eb692
mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded.
2023-11-29 11:10:40 -05:00
36f0c0f0bf
mavlink-mission: Add support for opaque ids and replace update counter with it
2023-11-29 11:10:40 -05:00
120e7fea8b
mavlink: update submodule including opaque ID
2023-11-29 11:10:40 -05:00
f00d97d974
removal of PX4_GZ_MODEL env variable and fix of ground glitching ( #22400 )
...
Removal of PX4_GZ_MODEL env variable and fix of ground glitching
Signed-off-by: frederik <frederik@auterion.com >
Co-authored-by: frederik <frederik@auterion.com >
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-29 09:08:04 +00:00
59abab8379
sensors: add parameter to silence imu clipping
2023-11-28 11:57:14 -05:00
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
...
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-11-28 11:04:02 -05:00
de9074558b
Roboclaw: Updated Airframe and fixed left and right mapping error
2023-11-28 16:30:17 +01:00
9409646a89
Update RoverPositionControl.cpp
2023-11-28 16:30:17 +01:00
c7e780cb6d
Roboclaw: Working temporary version that drives around
2023-11-28 16:30:17 +01:00
8a68a66203
figureEight: Rename relative position variable
2023-11-28 10:06:01 +01:00
1e06ed2ed5
figureEight: Rework initialization
2023-11-28 10:06:01 +01:00
a73409c015
FigureEight: Refactor initialization
2023-11-28 10:06:01 +01:00
2363c03bfe
[uxrce_dds_client] wait for Timesync to converge
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
f01400de81
[uxrce_dds_client] Fix debug string format - use PRId64 and llabs
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-27 21:10:26 -05:00
dfbd5c88b1
Update submodule mavlink to latest Tue Nov 28 00:39:31 UTC 2023
...
- mavlink in PX4/Firmware (b8870adb3e2002ee16ebf63bd23342a055ab8628): https://github.com/mavlink/mavlink/commit/70181c42fc63306ba3512666e1a8b7b782416806
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/02f1575d73b3b7eb09b1cc7ca3a03844aec05858
- Changes: https://github.com/mavlink/mavlink/compare/70181c42fc63306ba3512666e1a8b7b782416806...02f1575d73b3b7eb09b1cc7ca3a03844aec05858
02f1575d 2023-11-24 Hamish Willee - MAV_CMD_CONDITION_YAW - shortest direction v2 (#2058 )
bc0d8611 2023-11-22 Roman Bapst - moved MAV_CMD_EXTERNAL_POSITION_ESTIMATE from ardupilotmega to common (#2057 )
b85e0016 2023-11-22 Hamish Willee - development - delete MAV_CMD_SET_FENCE_BREACH_ACTION (#2053 )
2023-11-27 20:40:31 -05:00
2734c44533
FlightTaskAuto: set state to None if prev and current sp are equal
...
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-27 18:01:47 +01:00
6a34b63b60
mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed
2023-11-24 08:11:41 +01:00
5e1f0b73ce
HomePosition: Add an instance counter
2023-11-24 08:11:41 +01:00
3ac7ed6afa
mission_base: Do not reset mission on invalid mission upload
2023-11-24 08:11:41 +01:00
a92e7a8796
missionResult: remove unnecessary constants and rename instance_count to mission_update_counter
2023-11-24 08:11:41 +01:00
7afa011741
mavlink_mission: publish mission after updating dataman
...
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
2023-11-24 08:10:07 +01:00
93cae5f9d7
mission: fix comparison logic for saving mission state
2023-11-24 08:10:07 +01:00
8271faedeb
control_mode: reorder modes according to controller cascade
2023-11-23 20:35:48 +01:00
6e31638817
control_mode: add allocation to orbit mode to not crash
2023-11-23 20:35:48 +01:00
a99a7d2abd
vtol: always check for EKF2 resets, not just when QC is checked
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-23 13:54:07 +01:00
eae939d86c
vtol_type: transition altitude loss quad-chute: handle z resets
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-23 13:54:07 +01:00
742d237ae3
[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint
...
actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-22 22:14:50 -05:00
1c8f31f339
[offboard] add thrust and torque control mode
...
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.
New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.
Removed old direct mode.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-11-22 22:14:50 -05:00
6cc38776c8
src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME ( #22290 )
...
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
2023-11-22 22:06:11 -05:00
e280a6c6e6
Navigator: Geofence: always run geofence_breach_check(), not only only on pos update
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-22 21:45:02 -05:00
ade68aa563
Navigator: Geofence: stay in GF breached mode when in Loiter due to breach
...
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-22 21:45:02 -05:00
Silvan Fuhrer