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Author SHA1 Message Date
Matthias Grob af06bee8d0 update mavlink & adapt to pymavlink generator reporting failures by default 2024-08-12 16:26:56 +02:00
Matthias Grob 64056fc7bb SYS_STATUS: fill correct attitude, horizontal position flags 2024-08-09 18:22:09 +02:00
Matthias Grob fdfe43471e mavlink_receiver: limit access through instances with gimbal mode 
This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
 2024-08-09 10:13:44 -04:00
Matthias Grob 6cf0bf5e19 Support MAVLink extension MANUAL_CONTROL.aux 
Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
 2024-08-09 10:49:38 +02:00
Matthias Grob 0381e14822 FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick 2024-08-08 10:53:18 -04:00
Matthias Grob a8d54c7fae mixer_module: Reset RC passthrough functions to disarmed value when no stick input 2024-08-07 19:20:51 +02:00
Matthias Grob 8ed3489bd1 hardfault_log: revert to explicit path to not trip the module documentation parser 
- the module documentation parser can only resolve defines from the same file
- also it cannot deal with defines embeded in strings
- what board should it add for the general documentation anyways?

As a result of these issues I suggest to stay with the original hardcoded
/fs/microsd for the documentation. It's still the most common path as far as
I can see.
 2024-08-06 13:43:13 +02:00
Matthias Grob 84d4ee0e60 zenoh-pico: update to correct dev/1.0.0 branch 
which is up to date containing "Use SO_REUSEPORT only if it exists"
and is advertised by GitHub because the commit is on a branch
 2024-08-06 13:42:23 +02:00
Matthias Grob ba579245fb battery_status: remove unused smart battery mode 2024-07-30 14:37:11 +02:00
Matthias Grob a18c18e163 battery_status: remove custom_faults 2024-07-30 14:37:11 +02:00
Matthias Grob 72ed160aa9 batteryCheck: fix comment typo hyster{i,e}sis 2024-07-30 14:37:11 +02:00
Matthias Grob 2e66bbdfb8 battery_status: add failed to arm fault instead of duplicate over temperature 2024-07-30 14:37:11 +02:00
Matthias Grob e06629bfe5 failsafe: unhealthy battery during spoolup leads to disarm 
battery failures can occur upon arming when the load gets sgnificant.
In that case the safest thing to do is prevent a takeoff before anything
worse happens.
 2024-07-30 14:37:11 +02:00
Matthias Grob 0d00543292 batteryCheck: explicitly report missing battery with ID 2024-07-30 14:37:11 +02:00
Matthias Grob 7d79bdfa05 batteryCheck: apply supply circuit breaker also to battery checks 
This was the case in older versions of PX4.
 2024-07-30 14:37:11 +02:00
Matthias Grob edcda80cb9 Commander: adhere to parameter naming convention (#23466) 2024-07-30 14:27:27 +02:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob 7f14110bb1 Fix missing newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob fe3cd4b0cb Add check for missing or duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Matthias Grob e2b31454a3 SubscriptionInterval: move updated, update, copy function to a cpp file 
Saves 17.3 kilobytes of flash 😮
 2024-07-12 23:26:24 +02:00
Matthias Grob 2c3401dc83 uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384) 
* SubscriptionInterval: ensure _last_update is never before timer start
 2024-07-10 12:43:31 -04:00
Matthias Grob c8c46788ed Autostart: load airframes with priority ROMFS -> SD card 2024-07-03 18:32:16 +02:00
Matthias Grob e4446adba1 Add check for high RAM usage 
We had a case where someone took off with an experimental
system with 100% RAM usage on the embedded system
without noticing. This lead to problems during flight.

Since we already have a CPU load check it seems natural
to also check the reported RAM usage.
 2024-06-27 11:20:22 +02:00
Matthias Grob 8cc7c99b59 mavlink: report generator error (#23313) 
Without this flag the command silently succeeds even though the logs contains
an error. It's much more developer friendly to fail early in case of an error.
The log path is then also shown in the console output.
 2024-06-24 10:00:03 +02:00
Matthias Grob 9c83f842be autostart scripts: Reintroduce SYS_PARAM_VER (#22813) 
The case where the airframe maintainer wants to enforce a reset to airframe is
not covered anymore with the `param set-default` mechanism. For products based
on PX4 this is still required to ensure proper functionality after a major update.
 2024-06-18 09:32:51 +02:00
Matthias Grob 68769ea0ec mavlink: use reference instead of pointer to access the MAVLink instance from protocol classes 2024-06-05 16:13:52 +02:00
Matthias Grob 9a7a977625 mavlink_receiver: put all message handling in the same function 2024-06-05 16:13:52 +02:00
Matthias Grob daa89ba30a Jankinsfile-compile: add missing comma after ark_pi6x_default 2024-05-29 15:42:41 +02:00
Matthias Grob d1db0addf9 CameraFeedback: shorten line length such that documentation parser works 
This broke in 4f64acb352 and was also flagged by CI in the pr and since then.
 2024-05-29 11:24:53 +02:00
Matthias Grob dfee9ca4c6 MAVLink: remove never used _mavlink_link_termination_allowed 2024-05-28 10:41:00 +02:00
Matthias Grob b87c5285e2 battery: weigh voltage based estimate more when it's low 
This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set wrong.

The disadvantage is that the state of charge estimate will
fluctuate more under load.

We need better documentation and improvements to the estimation.
 2024-04-02 19:22:28 +02:00
Matthias Grob 8579175013 Build new IO firmware binaries 2024-04-02 11:59:56 -04:00
Matthias Grob ef5569fab3 px4iofirmware: reuse existing disarmed logic for lockdown and should_always_enable_pwm 
The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
 2024-04-02 11:59:56 -04:00
Matthias Grob b714b5461b px4iofirmware: simplify lockdown logic 2024-04-02 11:59:56 -04:00
Matthias Grob 7f0ec2305c px4iofirmware: refactor to only have one PWM output code path 
This removes the duplication with unexpected differences
and allows to consistently handle the output instead of
overriding the output for some specific cases which
leads to unexpected corner cases. E.g. disabled outputs
suddenly outputing PWM in lockdown.
 2024-04-02 11:59:56 -04:00
Matthias Grob ab1087906d px4io: remove special handling for HITL 
In HITL the actuators should not be mapped
and they are in lockdown.

We should not reconfigure disarmed, min, max PWM values
without updating the actual output values because the IO
will consider the last outputs before the FMU was rebooted
with the configuration of the new boot. This can result
in spinning motors when switching to SIH.
 2024-04-02 11:59:56 -04:00
Matthias Grob 416b6a35a4 failsafe framework: inform about failsafe action 2024-03-27 20:22:04 +01:00
Matthias Grob 6e86862b6a boards: unify comments for voltage deviders 2024-03-27 17:15:39 +01:00
Matthias Grob 4c5f084445 Battery parameters: clarify empty, full voltage description 2024-03-27 17:15:39 +01:00
Matthias Grob b5f6699f2e mixer_module: send a last sample out after all outputs were disabled 
This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
 2024-03-25 19:21:54 +01:00
Matthias Grob 1096384a38 px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs 
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
 2024-03-25 19:21:54 +01:00
Matthias Grob 999a71c4dd px4io: don't output on disabled PWM pins 
Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp
 2024-03-25 19:21:54 +01:00
Matthias Grob 1bd65f8beb mantis-edu: remove duplicate RC define 2024-03-04 13:30:28 -05:00
Matthias Grob 2491548a0f Jenkinsfile: correct typo, missing comma 
Introduced in
2c81c9fdea
 2024-02-27 13:32:46 +01:00
Matthias Grob 4e3bd4f196 MAVSDK tests: shorten Position, Altitude control flights 
We get more than 5 meter away much quicker.
 2024-02-22 15:29:13 +01:00
Matthias Grob 0cc4b41a51 MAVSDK test: Fix fly_forward_in_altctl() timing 2024-02-22 15:29:13 +01:00
Matthias Grob f602228048 MAVSDK test: increase offboard position threshold 
This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
 2024-02-22 15:29:13 +01:00
Matthias Grob 51fe4351c6 StickTiltXY: Fix too high maximum tilt problem 
And add unit tests.
 2024-02-20 14:27:49 +01:00
Matthias Grob 84a7d42566 rover build: correct differential drive kconfig name 2024-02-15 10:08:51 -05:00
Matthias Grob f26df8492f Update GPS drivers to contain the astyle fix 2024-02-15 15:23:06 +01:00
Matthias Grob cb03835124 RTL: use dest.yaw instead of a separate heading_sp 2024-02-13 10:34:57 +01:00
Matthias Grob 1998f54ea6 DifferentialDrive: move spoolup consideration to the main module 2024-02-12 14:29:10 +01:00
Matthias Grob 396ef222ee DifferentialDrive: Rework structure 
3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
 2024-02-12 14:29:10 +01:00
Matthias Grob f85144ca76 DifferentialDrive: remove trailing zeros from prameter metadata 2024-02-12 14:29:10 +01:00
Matthias Grob b54b4f7dce Rename module differential_drive_control -> differential_drive 2024-02-12 14:29:10 +01:00
Matthias Grob fc90e235f1 Rename differential drive setpoint topics 2024-02-12 14:29:10 +01:00
Matthias Grob f7baeae1a0 DifferentialDriveControl: only save required parts of uORB message 2024-02-12 14:29:10 +01:00
Matthias Grob b355c16141 Lanbao driver: correct rangefinder type to IR 2024-02-09 06:19:12 +01:00
Matthias Grob 7fdb5ef3cb PWMOut/px4io: correct automatic servo/motor configuration messages 2024-02-09 06:19:12 +01:00
Matthias Grob 97cb933cff FLightTaskAuto: limit nudging speed based on distance sensor 2024-02-07 11:23:55 +01:00
Matthias Grob 3e183feb49 matrix: Slice templated on const and non-const matrix cases 
to avoid casting const to non-const with
`const_cast<Matrix<Type, M, N>*>(data)`
 2024-01-30 11:46:33 -05:00
Matthias Grob 88102d82db matrix: return value simplifications 2024-01-30 11:46:33 -05:00
Matthias Grob 44a8c553fb AxisAngle use Vector3<T> instead of Vector<T, 3> 2024-01-30 11:46:33 -05:00
Matthias Grob ea4fdfd637 matrix: fix internal include chain 2024-01-30 11:46:33 -05:00
Matthias Grob 9156c5c065 ROMFS: remove single trailing zeros 2024-01-09 10:27:39 +01:00
Matthias Grob b70b19b7eb ROMFS: keep consistent quad X geometry but in each airframe separately 2024-01-09 10:27:39 +01:00
Matthias Grob 09fa712d37 ROMFS: remove trailing zeroes 2024-01-09 10:27:39 +01:00
Matthias Grob 40f2fc4e77 ROMFS: remove duplicate uuv configuration 2024-01-09 10:27:39 +01:00
Matthias Grob 4b86e174a3 ROMFS: Fix quad + geometry 2024-01-09 10:27:39 +01:00
Matthias Grob d872ef87da differential_drive_control: don't build by default 
also add dependency on control allocation parameter CA_R_REV
 2023-12-21 16:27:53 +01:00
Matthias Grob 3de5c609a4 Differential Rover: PR fixes 2023-12-21 16:27:53 +01:00
Matthias Grob bcb2b1ad40 matrix: fix slice to slice assignment to do deep copy 
To fix usage of a.xy() = b.xy() which should copy
the first two elements over into a and not act on a copy of a.
 2023-12-21 11:42:08 +01:00
Matthias Grob 8da106df6a px_process_events: fix no base path being a list 
This make `make extract_events` fail in CI that only runs on the
main branch and hence I wasn't aware of.
 2023-12-19 10:04:02 +01:00
Matthias GrobandBeat Küng 6ffc5a9eae events: pass relative paths plus base path to source parser script (#22551) 
* events: pass relative paths plus base path to source parser script

to work around maximum Makefile command lenght limits.

* events: correct cmake comment typo

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

---------

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2023-12-18 09:33:53 +01:00
Matthias Grob 75bb25a44c test_vtol_figure_eight: fix altitude check 
wait_until_altitude() checks for absolute altitude being
close so checking for 1m below the setpoint can fail
if the speedup results in no sample inside the altitude
window being checked.

Ideally the test could check if the takeoff is done directly
instead of comparing altitudes in the first place.
 2023-12-12 20:22:23 +01:00
Matthias Grob ece60b6165 msp_osd: reuse existing mode name conversion 
This saves a bit of flash, keeps the mode names up to date and
works like expected.
 2023-12-11 17:29:45 +01:00
Matthias Grob ebae9ae3d7 FlightTaskManualAccelerationSlow: MC_ prefix for parameter names 
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
 2023-12-08 21:17:59 +01:00
Matthias Grob d03030e881 mavlink_receiver: ifdef guard for velocity limits 
Since this message is defined in development.xml and
not yet common.xml and some targets use
common.xml and the builds then failed.
 2023-12-08 21:17:59 +01:00
Matthias Grob ca6db94e39 Velocity limit: remove duplicate message and if(true) 2023-12-08 21:17:59 +01:00
Matthias Grob da24811ce1 SickAccelerationXY: fix comment typo brak{e}ing 2023-12-08 21:17:59 +01:00
Matthias Grob 54ce9813c8 FlightModeManager: Add task for position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob ef0926d64b Commander: add position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob dbbf585adb StickYaw: yaw rate limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob 84220407ea FlightTaskManualAltitude: vertical velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob bb617f6c4d FlightTaskManualAcceleration: horizontal velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob 77c06a9f9e Sticks: Provide auxiliary analog values from manual_control_setpoint 2023-12-08 21:17:59 +01:00
Matthias Grob df41bc3d26 StickAccelerationXY: make sure speeds below 1m/s are exactly reached 
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
 2023-12-08 21:17:59 +01:00
Matthias Grob e35380d6ae mixer_module_tests: cover output_limit_calc_single() 2023-12-07 21:35:55 -05:00
Matthias Grob 0a78690356 mixer_module: correct output_limit_calc_single calculation 2023-12-07 21:35:55 -05:00
Matthias Grob d259386987 arch: python requirements fix, jdk comes with ant 2023-12-05 12:06:56 -05:00
Matthias Grob 14c4257a59 ActuatorEffectivenessRotors: Use modern parameter interface for rotor count 
This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
 2023-12-05 12:06:56 -05:00
Matthias Grob b71c6fb6ea arch: update to use pacman's arm-none-eabi 
which is currently GCC 12.2
 2023-12-05 12:06:56 -05:00
Matthias Grob adb22f1407 spi: put brackets such that GCC12 considers it a pointer for sure 
otherwise you get the warning/error px4_spi_buses can never be NULL
 2023-12-05 12:06:56 -05:00
Matthias Grob 0c97b0f4b0 ubuntu: usermod -aG instead of -a -G 
It's well documented everywhere that this command does and
it's commonly used with exactly these two parameters together
and in that order.
 2023-12-05 12:06:56 -05:00
Matthias Grob 1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00
Matthias Grob 4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
Matthias Grob d8d2213cab mavlink streams: add SYSTEM_TIME to onboard low bandwidth 
It's required with 2Hz by some MAVLink enabled payloads.
 2023-12-01 11:02:37 -05:00
Matthias Grob 9184a8f4ef mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth 2023-12-01 11:02:37 -05:00
Matthias Grob 3ceb932b7c mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth 
There are MAVLink enabled gimbals that directly consume RC channel data.
The gimbal controls stutter with this profile when the rate is too low.
 2023-12-01 11:02:37 -05:00
Matthias Grob 938be68c69 mavlink streams: add gimbal orientation feedback to normal stream 
It only publishes when the information is available on uORB
and is useful for the groundstation to show the gimbal's status.
 2023-12-01 11:02:37 -05:00