* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
updating gitignore
* fixing format and declaring submodules as cmake dependencies
* adding uORB message documentation
* fixing comment alignment
* Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead)
* bump RLtools; relax timing thresholds and adding real world readme
* smooth traj tracking performance
* Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification
* More ideomatic way of setting the path to the policy checkpoint
* Reset trajectory_setpoint on raptor mode activation
* Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance
* stable flight
* Update msg/versioned/RaptorInput.msg
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* adopting message formatting conventions
* sort raptor.px4board
* Archiving RegisterExtComponentRequestV1.msg
* Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2
* fixing formatting
* making internal reference configurable via command
* RAPTOR docs wip
* raptor internal reference documentation
* Finishing RAPTOR docs first draft
* adding logging instructions
* Fixing missing command documentation test error
* fixing format
* adding motor layout warning
* raptor minimal subedit - prettier, images etc
* Improve intro
* Fix up Neural_Networks version
* Mentioning "Adaptive" in the RAPTOR documentation's title
* Adding clarifications about the internal reference trajectory generator
* Removing "foundation policy" wording
* Fixing new-line check
* Removing redundant (evident through directory hierarchy) raptor_ from filenames
* Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic
* Fix to standard structure
* Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table
* Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status
* Trivial layout and wording fixes
* fixing docs error
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.
This solution only works for PWM based servos. Other types of servos are not affected.
* PWM: Add servo trim option
* PWM: Improve documentation of PWM trim feature
* PWM: cleaner clamping and docs typo
* update documentation & safety
* add migration formula
* rename param from trim to center
* docs with center instead of trim
* move clamping and reorder values
* improve documentation
* adress failing range check
* improve documentation
* CA: add event for setting CENTER with TRIM
Signed-off-by: Silvan <silvan@auterion.com>
---------
Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* rc_update: remove 1% deadzone for all channels
this should be handled higher level.
* Remove all references to the RC{n}_DZ parameters
Regular expression: RC.{0,2}_DZ
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Remove support for MAVLink 1
* Add back support for MAVLink 1 but don't default to it
* Update src/modules/mavlink/mavlink_params.c
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Note: Some files are autogenerated and I did not yet
go through each source of generation to fix it there.
Instead I adjusted the filter to only exclude those
such that we can fix things in steps.
