fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 17:54:07 +08:00
Code Issues Packages Projects Releases Wiki Activity
42,479 Commits 852 Branches 161 Tags
Commit Graph

16415 Commits

Author SHA1 Message Date
bresch
fdf7867a3e ekf2: update derivation to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
Matthias Grob
7e79d65aa4 mc_pos_control_params: clarify maximum vertical velocity parameters 2023-06-26 17:01:20 +02:00
Matthias Grob
439670444f mc_pos_control_params: more gain & velocity decimals, more clear wording 2023-06-26 17:01:20 +02:00
Matthias Grob
a6a913bf25 mc_pos_control: remove trailing zeroes 2023-06-26 17:01:20 +02:00
Matthias Grob
54a351639c mc_pos_control: improve parameter metadata 
- Adapted descriptions to be more clear
- Adjusted some limits and decimals
 2023-06-26 17:01:20 +02:00
Matthias Grob
d00ad1b815 mc_pos_control: separate parameter metadata into multiple files 
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
Matthias Grob
20d0661e87 HealthAndArmingChecks: disallow arming via parameter 
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
Matthias Grob
173407581b HealthAndArmingChecks: reorder CMakeLists alphabetically 2023-06-22 13:17:47 +02:00
Thomas Debrunner
fd267fb9a5 param save: Add a blocking API for param saves to be used from shell. 2023-06-21 08:19:52 +02:00
Silvan Fuhrer
18f0311161 Navigator: Mission: improve survey mission resume 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer
24b1ef93b2 Mission: reset mission on landing only if last item was reached 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Silvan Fuhrer
c6870006c7 Navigator: move disable camera trigger on mission inactivation to seperate function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-20 14:38:03 +02:00
Daniel Agar
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce 
- remove underscore uppercase variable naming that can be problematic
 2023-06-19 21:00:25 -04:00
Beat Küng
65ad6afb08 Micro-XRCE-DDS-Client: update submodule 
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.
 2023-06-19 16:05:36 -04:00
Silvan Fuhrer
4632fbd600 FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Matthias Grob
69aebe650b FixedwingRateControl: rework VTOL differential thrust saturation 
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-19 10:59:20 +02:00
Beniamino Pozzan
957a06a780 Fix enum for COM_RC_IN_MODE in failsafe 
add enum RcInMode

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-06-19 08:04:43 +02:00
Konrad
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
Matthias Grob
053d3020b0 esc_calibration: handle timeout wraps better 
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2023-06-16 12:05:47 +02:00
Matthias Grob
cfb24869e9 esc_calibration: allow to calibrate ESCs without battery detection 
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
Matthias Grob
4396b6e9f6 esc_calibration: adjust timing to work with all tested ESCs 
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
Matthias Grob
6929493134 esc_calibration: Improve readability and robustness 
- 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
Silvan Fuhrer
fc357921fd navigator: send commands to anyone listening 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-06-12 09:41:28 +02:00
Mathieu Bresciani
24de623989
EKF2: Zero gyro update (#21691) 
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
Beat Küng
7230a6dd8e commander: add option to exclude mag to param SYS_FAC_CAL_MODE 2023-06-09 21:05:40 -04:00
bresch
8b67fa91a1 factory cal: exclude _PRIO params 2023-06-09 21:05:40 -04:00
alessandro
f9510557a6 always trigger all cameras 2023-06-09 13:17:45 +02:00
Morten Fyhn Amundsen
135f02679a ekf2: Fix description of EKF2_HDG_GATE 2023-06-09 11:52:55 +02:00
Beat Küng
f119cca3b3 logger: restart on file write error 
This can also happen if the maximum file size is reached.
 2023-06-08 09:52:49 +02:00
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
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
9d7abf2552 ekf2: symforce - use builtin Rot3 and Quaternion operations 2023-06-05 11:58:42 -04:00
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