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Author SHA1 Message Date
Thomas Stastny ff8663b0b1 Commander: dont accept reposition commands without the mode switch bit 
avoids erroneous (unexpected) position setpoints when switching into hold from another mode
 2023-09-19 19:16:02 -04:00
Thomas Stastny 3e68e806b8 loiter: only accept reposition setpoint if commanded within last 0.5 sec 
guards against left over reposition commands (potentially set via geofence) from previous flights
 2023-09-19 19:16:02 -04:00
Thomas Stastny 39351acbcb FixedwingPositionControl: initialize the airspeed slew rate controller with trim airspeed in the constructor 2023-09-19 19:15:41 -04:00
Daniel Agar 2c9b739814 drivers/optical_flow/paa3905: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 14:19:56 -04:00
Daniel Agar 5e8ee98bf9 sensors/vehicle_optical_flow: don't publish interval lower than configured rate 2023-09-18 14:19:56 -04:00
Daniel Agar d98f3554da drivers/optical_flow/paw3902: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 14:19:56 -04:00
Thomas Stastny 1f30b2168d FixedwingPositionControl: rework airspeed slew controller handling 
- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
 2023-09-13 11:26:03 -04:00
Silvan Fuhrer 17177b3948 ROMFS: SITL plane_catapult: reduce FW_LAUN_AC_THLD to 10m/s/s to detect every throw 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-13 11:26:03 -04:00
Silvan Fuhrer ccef260f10 FW Pos Control: add in_takeoff_situation argument to adapt_airspeed_setpoint() 
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-13 11:26:03 -04:00
Thomas Stastny 3c9c5f7184 FixedwingPositionControl: slightly simplify manual position control (use navigateLine() to be sure no turnaround) 
make notes on odd things that are likely still wrong
 2023-09-12 11:22:22 -04:00
Thomas Stastny 7316d50555 FixedwingPositionControl: revise navigateLine(), navigateBearing() and naivgatePathTangent() briefs 2023-09-12 11:22:22 -04:00
Thomas Stastny 97112a7d20 FixedwingPositionControl: forgot to rename input args in navigateWaypoints() declaration 2023-09-12 11:22:22 -04:00
Thomas Stastny cd9fd12e91 FixedwingPositionControl: reuse line() and waypoint() methods in navigateWaypoints() method 2023-09-12 11:22:22 -04:00
Thomas Stastny a3f1f0e846 FixedwingPositionControl: split out single waypoint following method 
makes more clearly defined interfaces and behaviors. also cleaned up the controlAutoPosition() method
 2023-09-12 11:22:22 -04:00
Thomas Stastny 37015c3dbe FixedwingPositionControl: track single point when no prev point exists for waypoint following 
make sure correct local position setpoint output is logged
 2023-09-12 11:22:22 -04:00
Thomas Stastny 7160da741d FixedwingPositionControl: correct navigation method param description typos 2023-09-12 11:22:22 -04:00
Thomas Stastny db48b04281 FixedwingPositionControl: follow (infinite) lines instead of waypoints during takeoff and landing 2023-09-12 11:22:22 -04:00
Thomas Stastny da8dcc4942 FixedwingPositionControl: handle degenerate tangent setpoint in navigatePathTangent() 2023-09-12 11:22:22 -04:00
Thomas Stastny 7c2c288c09 npfg: update signed track error state 2023-09-12 11:22:22 -04:00
Thomas Stastny 30870e50c0 FixedwingPositionControl: fix / clarify navigate waypoint logic 2023-09-12 11:22:22 -04:00
Julian Oes 28b018f9bd px4_fmu-v5_test: save flash by disabling fixedwing 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes 3896df3e72 mavlink: improve readability 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-09-12 11:22:04 -04:00
Julian Oes 56fcabf0b1 mavlink: Support voltages > 65v in battery status 
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes 7b60737f9a mavlink: fix BATTERY_STATUS extension 
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.

The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 11:22:04 -04:00
Julian Oes 440165809a 6x: fix internal mag rotation 
From looking at the history the BMM150 rotation was initially 0. Then,
this was changed to 6 when the intent was to only change it for Skynode.

A bit later, the rotation was changed back to 0, but only for Skynode.

This tells me that rotation 0 was correct for all 6X including Skynode
all along.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-09-12 21:26:59 +12:00
Peter van der Perk d9fd67be3b [BACKPORT] MR-CANHUBK3 ADAP board support, add ADC support 2023-09-07 19:10:10 -04:00
alexklimaj 3cf205c4a6 ARKV6X update rev 2 heater default temp id 2023-09-05 13:09:45 -04:00
alexklimaj d54e488288 Add IIM42653 and ARKV6X Rev 2 2023-09-05 13:09:45 -04:00
Matthias Grob 70081652fe Tools/auterion: add Skynode upload scripts (#21842) 2023-08-21 18:16:37 +02:00
Daniel Agar 61bfa4fdc5 gitmodules update NuttX branch name 2023-08-15 21:15:48 -04:00
David Sidrane 3c94a447d6 NuttX with NXP Backports & DEBUGASSERT & Soket CAN fix 
This is the same jump off point as main and release/1.14
  with several NXP arch backports, 2 Commit fixing bad DEBUGASSERT
  logic and a  Soket Can change.
 2023-08-15 21:15:48 -04:00
Christian Rauch 44805b9e62 skip SSH key check for simpler builds in the Docker container 2023-08-14 10:45:16 -04:00
Christian Rauch c5fc5c83d2 pca9685_pwm_out: add parameter PCA9685_RATE to set update frequency 2023-08-08 12:49:21 -04:00
Christian Rauch ac1a157740 remove unused debug.h 2023-08-08 12:49:21 -04:00
Christian Rauch 8af893348a BMI0xx: remove unused board_dma_alloc.h 2023-08-08 12:49:21 -04:00
Christian Rauch 251e24bccb ADIS16497: replace NuttX specific up_udelay with HAL version px4_udelay 2023-08-08 12:49:21 -04:00
Christian Rauch fc80b09c84 enable common barometer, IMU and magnetometer 2023-08-08 12:49:21 -04:00
Daniel Agar 5359fe59e5 Jenkinsfile-compile fix invalid boards v1.14.0-rc1 2023-07-24 10:59:44 -04:00
Daniel Agar 24603589d2 Jenkinsfile-compile board updates 2023-07-18 13:53:14 -04:00
Beat Küng 4b70105583 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:12:20 -04:00
bresch 61036599db mag_cal: fix mag bias estimate to mag cal 
- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
 2023-07-18 07:38:47 -07:00
bresch eb23779c57 ekf2 - preflt checks: scale flow innovation checks 
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
 2023-07-17 11:13:43 -04:00
bresch a07b8c08ab ekf2: report dist bottom also when using flow for terrain 
Terrain height can be estimated using a range finder and/or optical flow
 2023-07-17 11:13:43 -04:00
alexklimaj 36ec1fa811 Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground 2023-07-17 11:13:43 -04:00
alexklimaj 694501b782 Apply code review changes from @dagar 2023-07-17 11:13:43 -04:00
Eric Katzfey 7dd8e3f614 Removed the huge HAGL fuse timeout increase 2023-07-17 11:13:43 -04:00
Eric Katzfey fe335344e7 Cleaned up some comments and debug code 2023-07-17 11:13:43 -04:00
mjturi-mai 343c7fcd52 actual fixes for velocity estimate errors and bad rng fusion 2023-07-17 11:13:43 -04:00
Loic Fernau 66df5c1bd1 drivers: rework NXP UWB driver (#21124) 
* UWB driver rework that uses 2 UWB MKBoards - 1 as Controller (Initiator), one as Controllee (Anchor)

Co-authored-by: NXPBrianna <108274268+NXPBrianna@users.noreply.github.com>
 2023-07-12 11:49:40 -04:00
Ramon Roche 090f929659 drivers/barometer/invensense/icp201xx: increase delay after configuration (#21765) 
- fixes wrong altitude reporting
 2023-07-11 20:20:13 +02:00