fdf7867a3e
ekf2: update derivation to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
7e79d65aa4
mc_pos_control_params: clarify maximum vertical velocity parameters
2023-06-26 17:01:20 +02:00
439670444f
mc_pos_control_params: more gain & velocity decimals, more clear wording
2023-06-26 17:01:20 +02:00
a6a913bf25
mc_pos_control: remove trailing zeroes
2023-06-26 17:01:20 +02:00
54a351639c
mc_pos_control: improve parameter metadata
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- Adapted descriptions to be more clear
- Adjusted some limits and decimals
2023-06-26 17:01:20 +02:00
d00ad1b815
mc_pos_control: separate parameter metadata into multiple files
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because the original file was almost 1k lines and
the order of parameters more historical than after topic.
2023-06-26 17:01:20 +02:00
20d0661e87
HealthAndArmingChecks: disallow arming via parameter
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COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
2023-06-22 13:17:47 +02:00
173407581b
HealthAndArmingChecks: reorder CMakeLists alphabetically
2023-06-22 13:17:47 +02:00
fd267fb9a5
param save: Add a blocking API for param saves to be used from shell.
2023-06-21 08:19:52 +02:00
18f0311161
Navigator: Mission: improve survey mission resume
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
24b1ef93b2
Mission: reset mission on landing only if last item was reached
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
c6870006c7
Navigator: move disable camera trigger on mission inactivation to seperate function
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-20 14:38:03 +02:00
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce
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- remove underscore uppercase variable naming that can be problematic
2023-06-19 21:00:25 -04:00
65ad6afb08
Micro-XRCE-DDS-Client: update submodule
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Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359 .
2023-06-19 16:05:36 -04:00
4632fbd600
FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-19 10:59:20 +02:00
69aebe650b
FixedwingRateControl: rework VTOL differential thrust saturation
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-19 10:59:20 +02:00
957a06a780
Fix enum for COM_RC_IN_MODE in failsafe
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add enum RcInMode
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-06-19 08:04:43 +02:00
3303323971
mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL.
2023-06-16 14:21:32 +02:00
053d3020b0
esc_calibration: handle timeout wraps better
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Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2023-06-16 12:05:47 +02:00
cfb24869e9
esc_calibration: allow to calibrate ESCs without battery detection
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Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.
Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
2023-06-16 12:05:47 +02:00
4396b6e9f6
esc_calibration: adjust timing to work with all tested ESCs
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Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
2023-06-16 12:05:47 +02:00
6929493134
esc_calibration: Improve readability and robustness
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- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
2023-06-16 12:05:47 +02:00
fc357921fd
navigator: send commands to anyone listening
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-12 09:41:28 +02:00
24de623989
EKF2: Zero gyro update ( #21691 )
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When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
2023-06-09 21:13:18 -04:00
7230a6dd8e
commander: add option to exclude mag to param SYS_FAC_CAL_MODE
2023-06-09 21:05:40 -04:00
8b67fa91a1
factory cal: exclude _PRIO params
2023-06-09 21:05:40 -04:00
f9510557a6
always trigger all cameras
2023-06-09 13:17:45 +02:00
135f02679a
ekf2: Fix description of EKF2_HDG_GATE
2023-06-09 11:52:55 +02:00
f119cca3b3
logger: restart on file write error
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This can also happen if the maximum file size is reached.
2023-06-08 09:52:49 +02:00
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
b8ad9bdbe5
Add magnetometer thermal compensation.
2023-06-07 12:07:29 -04:00
6ee2d796ea
delete unused ECL_LIB_GIT_VERSION
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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
b625e43566
rc_update: throttle trim centering fix for reverse channel
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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
5233b33242
update change indicator
2023-06-05 11:58:42 -04:00
403a6310c4
gnss yaw: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
c6b259d5f6
yaw_fusion: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
d4528dc53a
sideslip: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
e7c4a22be8
mag_3d: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
c6f1a63659
opt_flow: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
9d7abf2552
ekf2: symforce - use builtin Rot3 and Quaternion operations
2023-06-05 11:58:42 -04:00
a52c0fd9f5
FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
1c7320b9e3
VTOL: params: add missing @decimal and @increment
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
ac811450e5
Tiltrotor params: set default for VT_TILT_TRANS to 0.4
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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
8f64c79b4c
FWAttitudeController: params: increases parameter ranges
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
459f9c5331
Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50%
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
ad778b37f5
FWRateController: fix @group, all should be in FW Rate Control group
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
f41ad10275
FW Rate Controller: relax param ranges
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-06-02 10:23:46 +02:00
a1167d6c98
Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item ( #21641 )
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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
d2011e99b2
commander: add Open Drone ID arming check ( #21652 )
2023-06-01 07:52:52 +02:00
4b5e14aeec
Navigator: MissionFeasibilityCheck: check if items fit to the current vehicle type ( #21602 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-31 19:27:27 +02:00
bresch