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26118 Commits

Author SHA1 Message Date
mcsauder f9a13aa82f Format/group/organize/alphabetize methods and variables in Commander.cpp/hpp, format GeofenceResult.msg 
Scope VEHICLE_MODE_FLAG to the Commander class.
 2023-06-07 15:23:21 -06:00
mcsauder af44da25f0 Use accel of the same instance or primary baro for gyro instances that do not have valid temperature readings in temperature calibration data, use primary baro for magnetometers without valid temperature. 2023-06-07 12:07:29 -04:00
mcsauder b8ad9bdbe5 Add magnetometer thermal compensation. 2023-06-07 12:07:29 -04:00
oneWayOut 6ee2d796ea delete unused ECL_LIB_GIT_VERSION 
Since 'ecl' is nomore a git submodule, code lines related to
'ECL_LIB_GIT_VERSION' could be deleted
 2023-06-06 11:24:49 -04:00
Matthias Grob b625e43566 rc_update: throttle trim centering fix for reverse channel 
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
 2023-06-06 17:22:33 +02:00
Julian Oes cd485b3a13 lights: Add LP5562 RGBLED driver 
This adds support for the TI LP5562 RGB LED driver.

Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
  for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
  Instead we read the W_CURRENT register that we're generally not using
  and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
  the command line argument.

Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-06-06 13:12:44 +12:00
bresch 5233b33242 update change indicator 2023-06-05 11:58:42 -04:00
bresch 403a6310c4 gnss yaw: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6b259d5f6 yaw_fusion: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch d4528dc53a sideslip: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch e7c4a22be8 mag_3d: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6f1a63659 opt_flow: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch d03f242c04 DCM: use simplified conversion from unit quaternion 
This is exactly equivalent for a unit quaternion (and only unit
quaternions should be used to encode a rotation)
 2023-06-05 11:58:42 -04:00
bresch 9d7abf2552 ekf2: symforce - use builtin Rot3 and Quaternion operations 2023-06-05 11:58:42 -04:00
Julian Oes ea8b985a2f netman: fix line too long 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-06-05 12:01:07 +12:00
Ramon Roche 2f448e9d9f netman: update module description (#21664) 
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2023-06-02 09:33:18 -07:00
Silvan Fuhrer a52c0fd9f5 FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 1c7320b9e3 VTOL: params: add missing @decimal and @increment 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ac811450e5 Tiltrotor params: set default for VT_TILT_TRANS to 0.4 
0.4 tilt is more reasobale to get nice transitions than
the previous 0.3.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 8f64c79b4c FWAttitudeController: params: increases parameter ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer 459f9c5331 Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50% 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer ad778b37f5 FWRateController: fix @group, all should be in FW Rate Control group 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer f41ad10275 FW Rate Controller: relax param ranges 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:23:46 +02:00
Silvan Fuhrer a1167d6c98 Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item (#21641) 
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-02 10:21:23 +02:00
Eric Katzfey d2011e99b2 commander: add Open Drone ID arming check (#21652) 2023-06-01 07:52:52 +02:00
Silvan Fuhrer 4b5e14aeec Navigator: MissionFeasibilityCheck: check if items fit to the current vehicle type (#21602) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-31 19:27:27 +02:00
Roman Bapst d6413a6a90 Refactor uncommanded descend Quad-Chute (#21598) 
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)

* disabled altitude loss quadchute by default

* altitude loss quadchute: added protection against invalid local z


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-05-31 17:57:50 +02:00
henrykotze fab58ee2bc cannode prearm by default enable on ArmingStatus 
- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed

- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
 2023-05-31 11:20:31 -04:00
Beat Küng db18a94382 refactor param: reduce flash usage 
Reduces usage by ~1.5KB
 2023-05-31 07:45:20 +02:00
Beat Küng 1bfca24fa9 refactor param: move autosave to px4::wq_configurations::lp_default work queue 
Changes initialization order as param_init now depends on wq manager
 2023-05-31 07:45:20 +02:00
Thomas Debrunner f0dd9fa445 param: Add contained-params-bitset export interface to the param layers 
Allows for efficient looping over the contained data
 2023-05-31 07:45:20 +02:00
Thomas Debrunner bc872822bc params: Overhaul param system to use a layered approach without locking 
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
  concurrently and we rely on the fact that another export will be
  triggered in that case.
 2023-05-31 07:45:20 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer bd182ecf70 FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer ad769db8d6 FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Alex Klimaj ee96d209d7 drivers/uavcannode: add GNSS Auxiliary publisher 2023-05-24 21:27:50 -04:00
Loïc Dubois 1b9d90e7c4 mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob 7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Matthias Grob 7d0596d244 RCInput: follow topic name convention 2023-05-23 17:24:17 +02:00
Patrick José Pereira 8feb662557 systemcmds: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira cee21bd703 sensor_calibration: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
PX4 BuildBot 74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/18955a04c7c7467e00ea42b704addb4a9c12b53a
    - Changes: https://github.com/mavlink/mavlink/compare/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa...18955a04c7c7467e00ea42b704addb4a9c12b53a

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
PX4 BuildBot 6c9dcd535c Update submodule devices to latest Fri May 19 12:38:42 UTC 2023 
- devices in PX4/Firmware (6a645f244654695f3b178b576f7f8972f87ad774): https://github.com/PX4/PX4-GPSDrivers/commit/7d19f689f0781ef4fcaa624b318fac3fe744e59b
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/99f5960eca66150e33dc277e71a4c99187c27ddc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/7d19f689f0781ef4fcaa624b318fac3fe744e59b...99f5960eca66150e33dc277e71a4c99187c27ddc

    99f5960 2023-05-02 Eric Katzfey - sbf: fixed compile errors for Qurt platform (#129)
 2023-05-19 08:41:21 -06:00