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17149 Commits

Author SHA1 Message Date
Daniel Agar
fcf94e7670 ekf2: move GNSS files to aid_sources/gnss 2024-05-02 17:40:58 -04:00
Daniel Agar
31ae5b77fe ekf2: move drag_fusion file to aid_sources/drag 2024-05-02 17:40:58 -04:00
Daniel Agar
c3fb0b1090 ekf2: move auxvel file to aid_sources/auxvel 2024-05-02 17:40:58 -04:00
Daniel Agar
b5d1e87368 ekf2: move EV files to aid_sources/external_vision 2024-05-02 17:40:58 -04:00
Daniel Agar
c64104e9f1 sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) 
- this warning was to catch any potential errors in sensor selection
   relative to what's actually available, we don't need to complain
   about initial selection before the EKF selector is available
 2024-05-02 11:53:31 -04:00
Daniel Agar
b6da0b141d
ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure 2024-04-29 21:04:21 -04:00
Beat Küng
547209e1dc libevents: update submodule 
And remove obsolete libevents_definitions.h
 2024-04-29 07:22:40 -07:00
bresch
9dc7719d4a ekf2: Only reset to GNSS heading if necessary 
When North-East (e.g.: GNSS pos/vel) aiding is active, the heading
estimate is constrained and consistent with the vel/pos aiding. Reset to
GNSS heading should only occur if no N-E aiding is active or if the
filter is not yes aligned. Otherwise, just wait for the consistency
check to pass again (will pass at some point if the heading uncertainty
of the filter is getting too high).
 2024-04-29 07:22:01 -07:00
Jukka Laitinen
6435e25929 commander: Use PX4_STACK_ADJUSTED to increase stack for 64-bit targets 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2024-04-29 08:11:54 +02:00
Silvan Fuhrer
34cb69898e FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-26 10:44:40 +02:00
oravla5
9d6ac0b87a mavlink: Added MAV_{i}_HL_FREQ parameter 2024-04-26 09:42:06 +02:00
oravla5
2b2e1c9521 mavlink: Added parsing of CLI option to configure HL frequency 2024-04-26 09:42:06 +02:00
bresch
7cefc3172a estimatorCheck: get param only if handle is valid 2024-04-25 14:48:23 -04:00
murata,katsutoshi
ba448fb549
MC Auto: add fixed yaw mode 2024-04-25 13:53:05 +02:00
oravla5
98b23e41f7 mavlink: fixed compilation error after var renaming 2024-04-25 08:23:32 +02:00
oravla5
3cb48feb61 high_latency_stream: minor PR fix 2024-04-25 08:23:32 +02:00
oravla5
bf1266af11 mavlink: added back gimbal v1 protocol command 2024-04-25 08:23:32 +02:00
oravla5
03652beef8 commander: fixed format 2024-04-25 08:23:32 +02:00
oravla5
d0e7f2c368 high_latency_stream: heading taken from vehicle_attitude topic 2024-04-25 08:23:32 +02:00
Igor Mišić
61ca65d863 mavlink: use high_latency_data_link_lost as backup to normal data_link 2024-04-25 08:23:32 +02:00
Igor Mišić
4f8de500af iridiumsbd: update logic for detecting if the modem is not responsive 2024-04-25 08:23:32 +02:00
Igor Mišić
5be0adc779 mavlink: don't send command ACK for internal commands over Iridium 2024-04-25 08:23:32 +02:00
Igor Mišić
29af189cd0 mavlink: don't send events over Iridium 2024-04-25 08:23:32 +02:00
Igor Mišić
208909d471 mavlink: use high_latency_data_link_lost as backup to normal data_link 2024-04-25 08:23:32 +02:00
Igor Mišić
de23c10b68 commander: improve handling high latency link lost/regain 2024-04-25 08:23:32 +02:00
Igor Mišić
d3b853a7f9 mavlink: fix handling of transmission enable/disable 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Igor Mišić
760bcdec2f high_latency_stream: fixed bug where fields were not updating 
- topic update was checked twice in the same loop and thus
the second time the topic would never indicate to have updated

Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Igor Mišić
df2cc4af05 commander: fix check for availability of high latency link 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-04-25 08:23:32 +02:00
Beat Küng
f543951e10 commander: set correct health component when reporting errors 2024-04-24 16:06:32 -04:00
Daniel Agar
eb59bb9de9 simulation/gz_bridge: eliminate implicit float conversion 2024-04-24 15:51:30 -04:00
bresch
b508df39a2 imu consistency: don't scale param threshold 2024-04-24 15:51:07 -04:00
bresch
8bf1cf0b15 ekf2_params: reduce "short" description 2024-04-24 15:09:57 -04:00
bresch
4cf51e5833 baro comp: set hpf optional 2024-04-22 15:59:50 +02:00
asimopunov
f95a2021cd
adsb: warnings fixes & remove UTM_GLOBAL_POSITION (#21663) 
- warn about full traffic conflict buffer at 1/60hz.
- add conflict expiry for buffer.
- use only events for buffer full warning. mavlink_log_critical no longer needed.
- use icao address for conflict warnings id, stop using uas_id. UTM_GLOBAL_POSITION assumed deprecated.
- stop spamming when buffer is full
- fix warning wording if buffer is full.
- remove UTM_GLOBAL_POSITION

Fixes failing unit test:
* [adsbTest] Reduce conflict timestamps - not enough time has passed in ci
- failed ci output - (passes locally with make tests TESTFILTER=AdsbConflict)
- Timestamp: 6000000000
- Time now: 457720038
- Time since timestamp: 0
- Old Conflict warning expired: 0
- --------------------
- adsb_conflict._traffic_state 0
- ../../src/lib/adsb/AdsbConflictTest.cpp:244: Failure
- Value of: adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT
-   Actual: false
- Expected: true
 2024-04-22 10:14:39 +02:00
Juyong Shin
c7725d74b4
fw offboard control mode: altitude control enabled (#23041) 2024-04-22 06:57:57 +02:00
Daniel Agar
ec3ceae45e
ekf2: move yaw_estimator and derivation to dedicated folder 2024-04-18 15:14:59 -04:00
bresch
a8a67fbf8f ekf2: set horizon using specific parameter 
Some sensors can have their delay included in the timestamp. In this
case, the buffer cannot be sized using the _DELAY parameter.
 2024-04-17 09:16:16 -04:00
Sergei Grichine
c64f5128b4 Update CMakeLists.txt - included lawn world 
Added lawn world to make process to allow gz sim building like "make px4_sitl gz_r1_rover_lawn"
 2024-04-16 11:36:57 -04:00
Beniamino Pozzan
2476883525 logger: add timesync_status to default logged topics 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2024-04-16 11:29:35 -04:00
bresch
7a973eddce ekf2: migrate param to yaml 2024-04-16 11:14:13 -04:00
Eric Katzfey
0f665f2772 Added high rate esc_status logging to the high rate logging category along with actuator_outputs_debug. Both of these 
really help diagnosing odd flight behavior / crashes on VOXL2. Also changed the logger start commands in the VOXL2
standard and HITL startup scripts.
 2024-04-15 16:07:07 -04:00
Daniel Agar
78bbb66568 delete SYS_MC_EST_GROUP 
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
 2024-04-15 16:06:08 -04:00
Silvan Fuhrer
926e7878af RT: only chose mission RTL if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer
5fab21d099 MissionBase: hasMissionLandStart should only return true if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer
974ead4015 FW position control: catapult/hand-launch: enable without launch detection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Silvan Fuhrer
6fec452c4b FW position control: catapult/hand-launch: do not cut throttle if not landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Konrad
6a7555c005 mission_base: fix to set the end of mission item always, if the mission can't be properly loaded or started 2024-04-11 10:21:52 +02:00
Eric Katzfey
d8fabd11d0
Send mavlink manual control buttons field in manual control input topic (#22988) 
Pass along button states from manual control mavlink message in new buttons field in manual control input topic
 2024-04-09 12:35:42 -07:00
Silvan Fuhrer
64505b4b9c Mission params: update description of MIS_TKO_LAND_REQ 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer
93ed910977 FeasibilityChecks: only require both or neither TO/LND when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00