* Remove Zubax Orel - not available and no other presence
* Fix up zubax product links
* Snapdragon flight - delete as no longer relevant hardware
* Delete intel aero docs
* Brushless whoop - remove docs except for link to old version
* Many link fixes
Previously, when switching from a goto setpoint into a mode that publishes
trajectory_setpoint, the previous goto setpoint was still used for 500ms,
which then caused a setpoint jump.
This change makes sure that when a trajectory_setpoint is received, any
existing goto setpoint is marked as invalid immediately.
There was a race condition: for example when an external mode disabled
failsafe deferring, that then triggered a failsafe, while the mode executor
immediately sends a command (to e.g. switch modes).
In that case the failsafe got triggered but the mode switch was still
allowed.
This was because of the processing ordering:
- mode updates (and propagating the failsafe_action_active state)
- failsafe updates
- command handling
This patch makes sure failsafe_action_active is set immediately after
updating the failsafes.
Previously, when deferring was active and e.g. RC loss was triggered, and
RC regained, the action was not cleared, as the RC loss action only clears
on mode switch/disarm (when set to RTL for example).
When deferring was then disabled, the RC loss failsafe would still trigger.
This changes the behavior to immediately remove those actions when
deferring is active.
It also ensures to reset the Hold delay when deferring is disabled and no
failsafe is being deferred.
* Doc Orbit: update and clarify configurability and behavior around limits
* run prettier
* Fix up link to table
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This fixes a number of issues with uavcan ESC control.
- Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control
- The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state.
- Useless and redundant code has been removed and small name changes have been applied.
Even though all enum values fit into 13 bits, there's an error:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: ‘septentrio::sbf::Header::id_number’ is too small to hold all values of ‘enum class septentrio::sbf::BlockID’ [-Werror]
This is with GCC 13.3.0 under Ubuntu 24.04
From https://github.com/google/fuzztest.
This will now also add gtest (via cmake FetchContent)
And requires newer cmake (container updates):
CMake 3.19 or higher is required. You are running version 3.16.3
For delivery use-case, the mission contains a land item followed by other mission items. For the
section after the land, the current sequence number is greater than the land start index. If an RTL
is triggered, then isLanding returns true and the vehicle continues with the mission instead of
executing the RTL.
The land index marks the actual landing. So, is landing should only be true for the items between
land_start_index and land_index. If there are items after the land index, then they don't belong
to the landing anymore.
code was checking for an updated MissionResult twice in a row, leading to _mission_state
not being set correctly when the second check had no new message.
Switched to SubscriptionData to safely retrieve the latest message using .get().
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
if [ "x$PRT_GPS1_" = "x" ]; then
^-----------^ SC2268 (style): Avoid x-prefix in comparisons as it no longer serves a purpose.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* removing logic from driver to send warnings when state-change to spoofing is detected, handled in estimatorChecks
* also remove jamming warnings from drivers, those are handled in the estimator checks as well
The define is used in dataman, not navigator, so this config variable
needs to be moved to the dataman module, otherwise it breaks the build
if navigator is not included in the build.
* add qmc5883p drivers
* format correction for qmc5883p
* make format
* remove extra newlines
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
When a mission finishes with an RTL command, there's a race condition
between:
1. RTL command setting user_mode_intention RTL
2. Mission completion logic forcing LOITER
The auto-loiter transition was checking current nav_state (which is
still AUTO_MISSION) instead of any pending user_mode_intention,
causing it to override the RTL request.
Fix: Only auto-transition to loiter if no mode change is already
pending.
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.
- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux
- scale was not set as unknown (-1) even though it is since it's never updated
- time_remaining was not initialized correctly and could sometimes be 0
unexpectedly which causes the drone to failsafe because there's reportedly no flight time left
There was a race condition when closing the shell:
- the main thread checks if _mavlink_shell is not nullptr (which is true)
- the receiver thread closes the shell, which clears _mavlink_shell
- the main thread continues with _mavlink_shell->available()
Within the first 2min of a flight, check if the integrated GNSS vertical velocity and the baro
measurements disagree with the reported GNSS altitude, and in that case update the
set home position altitude to cancel out GNSS altitude drift.
* prevent re-init when reaching negative altitudes
* only allow correction during the first 120 second after takeoff
* add dependency to COM_HOME_EN parameter. reset vel-integral for multiple takeoffs
I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
_message.header.length - 4 is passed as unsigned to the CRC method, so if
_message.header.length < 4, the length wraps and causes invalid memory
access.
- Adds MSPv1 rx parsing to fetch VTX config
- Allows to inspect and change VTX channel through CLI
- Forward MSP_RC for stick commands osd
- Forward MSP_STATUS for arming status for PIT and LP mode
Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem
Replaced the local variable landed_amid_mission with the class member _mission_in_progress for consistency and to reduce redundancy.
No functional change.
This makes sure that there is no weird line following logic executed
by the flight task when the vehicle should just come down vertical
for landing.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems.
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
* apply offset to baro sensors based on gnss measurements when gnss is selected as hgt-ref
* always calibrate baro with gnss if new param SENS_BAR_AUTOCAL is set accordingly
* always do baro-gnss calibration when AUTOCALIB is set, but ensure epv is small enough and gnss data is consistent with baro
* avoid update and reset in the same step
* minor change of constexpr usage
* docs: add gazebo plugins doc
* add to sidebar and summary
* prettier and link to sources
* review feedback
* Minor subedit and crosslink
* Update docs/en/sim_gazebo_gz/plugins.md
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer.
I don't think we have a way to explicitly detect if BAT1 or BAT2
"bricks" are correct, so we have to assume they are, and rely on the
voltage/current shown.
Additionally, we can now power cycle sensor power.
add RunwayControl messge to pass wheel steering controls to wheel controller
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
msg/RateCtrlStatus: remove unused wheel_rate_integ field
The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel rate controller: use speed scaler quadratically on integrator
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel yaw controller: use a time constant of 0.1
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
FW Attitude Controller: lock heading setpoint for wheels to initial heading
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Params that are used by FW Mode Manager
- FW NPFG: NPFG params, should be renamed to FW Lateral Control once moved to the lat/lon controller
- FW Auto Takeoff
- FW Auto Landing
Params used by Fw Lat/Long Controller:
- FW Lateral Control
- FW Longitudinal Control
Params used by both:
- FW General
Params used by Performance model:
- FW Performance (could be moerged with FW General?)
Signed-off-by: Silvan <silvan@auterion.com>
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com>
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.
Low - Critical
Critical - Critical
Emergency - Emergency
* docs: update module reference metadata
* Update failsafe metadata in docs
* Update parameter metadata
* Fix up uorb graphs based on main
* SUMMARY.md - and radio control for modules
* Add alternate sidebar
---------
Co-authored-by: PX4BuildBot <bot@pixhawk.org>
PX4 needs a bit of time to process an uploaded mission before it is
ready to accept the mission mode.
Therefore, we need to wait a bit.
Alternatively, we could wait on the mission progress arriving properly,
but this sleep is simple enough for now.
It turns out that we set the ADC range incorrectly leading to the
measured current being capped at a certain level as the ADC on the
sensor saturates.
Instead, we need to set the range according to the formula given in the
interface datasheet.
* adis16507: enhance driver to handle and recover from all failure modes
- Clean up driver
- Add optional hardware reset
- Fix scale and range for 125 deg/s variant
- Handle communication errors when read returns zeroes
- Improved perf counters
* change prints to PX4_DEBUG, define BURST_READ_CMD, do both soft and hard reset, use ScheduleNow instead of 1ms delay, change read/write stall period to SPI_STALL value
* ZMO airframe: update parameters
Including some parameters we found useful during the tests over the
previous months:
- various controller & transition tuning refinements
- remove battery capacity (not reliable enough w battery degradation)
- airspeed scale
- rotor configs:
- remove everything related to rotors 3 and 4 (which don't exist)
- set moment coefficients explicitly even if at default
- Increase roll limit (FW_R_LIM, FD_FAIL_R)
- min and max airspeeds
- tilt servo min and default PWM values
* ZMO airframe: address review
- explicitly set CA_ROTOR3_* to 0 (as these are set in the parent
13100 which describes a quadrotor)
- remove ASPD_SCALE_1 (close enough to default, and better to have
slightly low reading)
- remove MPC_ACC_HOR_MAX (= default)
- remove MPC_TILTMAX_AIR (was temporary)
- remove SENS_EN_SF1XX (= default)
* ZMO airframe: update tilt setup
to describe a setup where tilt servos can provide yaw torque in both
directions in multicopter mode.
* ZMO airframe: wording
* Update ulog_file_format.md
Update Known Parser Implementations with updated information for Foxglove and the typescript parser
* Update docs/en/dev_log/ulog_file_format.md
* hrt: Fix PPM input on channel 2
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.
Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.
This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"
Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
* rc_input: enable sharing serial and PPM pin
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
* boards: Add support for Holybro KakuteH7-Wing
* gz: print version number in init, remove gst plugin spam, rename function
* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions
* format
* change gzerr to gzwarn
- only use data from airspeed_validated topic if source is SENSOR
- add 1s timeout (set to NAN if older)
- use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)
Signed-off-by: Silvan <silvan@auterion.com>
Gravity fusion uses the bias corrected accelerometer data to correct the
tilt estimate. We should not continue to estimate the accel bias when
this is active as it creates an unwanted feedback loop.
* Docs: add moving platform
documenting the addition in #24471
* Moving platform docs: address review
- Release note, write release in docs
- Describe configuration also in main gazebo sim docs, syntax section
- Tip that plugin can be used in other worlds, linking to plugin readme
* Update docs/en/sim_gazebo_gz/index.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Rescale throttle curve to HTE as option
* Add slew rate to hover thrust estimate
* Update docs to reflect changes
Fix formating
* mc_att_control: suggestions for hover thrust slewing
- Slower slew rate
- Move update of hover thrust estimate into main loop
- Make sure dt for slew rate is correct
- Apply parameter updates if hover thrust estimate not used
- Parameter description in metadata files
* fix: Rescaling cases order
* Rescale to HTE estimate by default
* Update src/modules/mc_pos_control/multicopter_position_control_params.c
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* Fix hte sub name
* Update MPC_THR_CURVE description
* Swap thr curve values to make hte rescaling default for value 0
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
The rotational speed threshold on fixed-wing vehicles is triggering easily
if the plane is lifted prior to takeoff (hand-launch), and can cause issues
for the auto takeoff state machine. Thus if either airspeed or groundspeed is valid,
it's better to rely on these for land detection, and only use the rotational
speed if they're invalid.
Signed-off-by: Silvan <silvan@auterion.com>
* feat: add attitude to trajectory setpoints
* feat: proposed new trajectory message for fully actuated vehicles
* fix: moved to unversioned and changed naming scheme
* feat: added space between translation and attitude control
* fix: change cmakelists
* gz_plugins: add MovingPlatformController
This plugin moves the entity to which it is attached to simulate moving
platforms (boats, trucks, ...) to takeoff and land on. Updates
Tools/simulation/gz submodule with corresponding dependency. Use with:
PX4_GZ_MODEL_POSE=0,0,2.2,0,0,0 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
more in README.md
* MovingPlatformController: Wrench implementation
Now it works by applying appropriate forces & torques to make the
platform move as desired. Compared to the previous velocity-based
version it introduces no kinematic constraints, keeping it realistic.
Other updates:
- Also make heading configurable by env var in addition to velocity
- Cleaner error handling (runtime error, gzerr, gzwarn)
- Read parameters (gravity, platform mass & height) from model rather than hardcoding
- Update README with new env vars, usage in sdf, etc.
* MovingPlatformController: fix warning message
* MovingPlatformController: fix build
https://github.com/PX4/PX4-Autopilot/pull/24518 changed some variable
names in CMakeLists. This adapts ours to use the new ones.
* MovingPlatformController: format
* MovingPlatformController: address code review
From feedback on PR
- Parameterise low pass filters with cutoff frequency (rather than
filter coefficient directly).
- Add comment with units of feedback gains.
- Scale attitude gains with platform inertia (rather than mass).
Additionally
- Wait 5 seconds before moving the platform so the model has time to
spawn (was quicker before rebasing...)
- Refactor: separate noise generation and force/torque calculation into
two separate functions
- rename updatePlatformState -> getPlatformState to emphasise
difference from other update* functions that update internal state only
- remove unused gz transport node
- README grammar
* MovingPlatformController: format
* MovingPlatformController: remove redundant call
* MovingPlatformController: clarify explanation
* MovingPlatformController: clarify & comment units
* MovingPlatformController: wait for model to spawn
Rather than waiting a fixed 5s, we now only move the platform once the
model is spawned.
For that we construct the model name from the relevant environment
variables, in the same way as done in px4-rc.gzsim.
If attaching to an existing model, do not wait.
* MovingPlatformController: correct substring extraction
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
The older defines without the L for the APB1 Low domain errored for some
of the timers, such as 6 and 7.
I checked and it turns out the defines with and without L are identical.
There is some race condition where in rare cases the topic publication
right after creating the writer did not get received on the ROS side.
This happens even with reliable QoS & reliable transport.
We need to open the device later in the work queue and not in the
constructor during task_spawn.
There is already a lazy open in place, so just removing this fixes the
problem for me.
* Updated Encrypted logs docs to reflect https://github.com/PX4/PX4-Autopilot/pull/24489
* Subedit
* Subedit the key generation bit
* Updated the docs with multiple command line args for the decryptor and added OpenSSL as a requirement
* Subedit
* Update log_encryption.md
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Added the board configs for encryption, I had to disable smbus and px4 io in the arkv6x
* Added the key generator script
* Added the decryptor, logs are needed for it though
* Added the log download and modified the decryptor
* Quick fixes & README
* Additional modifications & cleanup
* Tested upd connection
Adjusted the log downloader to handle multiple entry responses from the FC
Edited README
* Reverted IP address change
* Added pycryptodome to the requirements.txt
* fixes for log download and decryption
* Removed old log decryptors and updated README
* Pointed the ark borads to the dummy key updated the README accordingly
* Adjusted the folders in README, removed new lines
* Extended command line arguments for all possibilities for description
* Added MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES after heartbeat received to make sure log request is answered in all cases
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Edited README, changed the serial connection logic and updated logdownload, made decryption a bit easier to understand
* Update Tools/log_encryption/README.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Removed new lines
* arkv6x: add individual mags to default.px4board
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This adds RTL_TYPE 4 which means continue the mission or reverse back to
the takeoff location, whichever is closer in terms of mission items
in-between.
This would be nicer to have on a distance rather than mission item count
basis but that would require access to the dataman and make it more
complex.
* mavsdk_tests: add multicopter alt hold test
* fix test filter
* increase altitude tolerance to 10m as a test
* reduce to 1m tolerance
* increase to 5m tolerance
* increase to 2m tolerance
* reduce back to 1m
* delay 60 seconds
* fix log upload
* fix ulog upload path
* make altitude tolerance in tester.wait_until_altitude configurable
* fix lambda
* default arg in declaration
* tighten up tolerance
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase max mission items for boards with >=1kb RAM to 1000
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000
Signed-off-by: Silvan <silvan@auterion.com>
Since we have SYS_DM_BACKEND, the user has to option on all boards
to store the mission on the RAM, thus thus define got obsolete.
Signed-off-by: Silvan <silvan@auterion.com>
* ci: fix markdown flaw check ci
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs: fix typo
intentionally touching this file to trigger ci
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: fix path error
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: intentionally touch
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: check if exectuion is right
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: debug with tmate
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
vtol_type: timeout transition earlier if we use airspeed and airspeed has
not increased above blend airspeed after openloop front transition time.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
the previously used std::this_thread::sleep_for is with respect to host
system time which is different from autopilot time if:
- speed factor != 1
- something runs slower than realtime regardless of speed factor
- debugging or otherwise interrupting PX4 control code
tester.sleep_for (which already existed) correctly sleeps w.r.t.
px4/simulation time.
This configures the RTC clock to use the HSE instead of the not existing
LSE clock which prevents boot waiting for the not existing LSE crystal
for a few seconds on startup.
* Add vitepress tree
* Update existing workflows so they dont trigger on changes in the docs path
* Add nojekyll, package.json, LICENCE etc
* Add crowdin docs upload/download scripts
* Add docs flaw checker workflows
* Used docs prefix for docs workflows
* Crowdin obvious fixes
* ci: docs move to self hosted runner
runs on a beefy server for faster builds
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: don't run build action for docs or ci changes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: update runners
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Add docs/en
* Add docs assets and scripts
* Fix up editlinks to point to PX4 sources
* Download just the translations that are supported
* Add translation sources for zh, uk, ko
* Update latest tranlsation and uorb graphs
* update vitepress to latest
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* Bidirectional DShot
Co-authored-by: Julian Oes <julian@oes.ch>
* f4/f1 support, not supported
* fix f1 build target
* sanity check timer_channel value, fix CCxNP ifdef, debug stuff
* removed debug code, added define for H7 HAVE_GTIM_CCXNP
* round robin sampling for less than 4 DMA
* unlimited esc_status logging
* dshot: fix formatting
* dshot: add define for number of DMA channels to use
This allows individual boards to override the number of DShot channels
and hence avoid round robin capture of the RPM feedback.
* ARK: enable 4 DMA channels for DShot on 6X
* dshot: publish when all channels are updated
This slows down the ESC_STATUS publication in the case of round robin
capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is
now published at 200 Hz.
* dshot: avoid duplicate publications for bidir and telem
Instead of publishing both bidirectional dshot updates as well as
telemetry updates, we now combine the data from both streams, and
publish whenever we get RPM updates, as the latter arrives with higher
rate, e.g. 200 Hz with round robin, or faster otherwise.
When combining the data, we take RPM from bidirectional dshot, and the
rest from telemetry.
When we have only one of the two, either telemetry or bidirectional
dshot, we just publish that one.
* boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS
* dshot: turn off debug build
---------
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: alexklimaj <alex@arkelectron.com>
There is already another check for battery_unhealthy, so a separate state
and ID are required.
Fixes the error:
ERROR [failsafe] BUG: duplicate check for caller_id 74
Reading the WAI register is unreliable as the chip sometimes returns
wrong values or boots with the wrong I2C address. This can be fixed by
sending the software reset command to all four possible I2C addresses.
* MissionBase: replay change speed on resume immediately if not going to previous
This fixes an issue where the speed was not correctly set at the beginning of a
survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused
and resumed the mission prior to reaching the first waypoint.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Update src/modules/navigator/mission_base.cpp
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
* add sf45 driver to 6xrt
* disable the sf45 driver on rover, since collision prevention is tied with MPC params
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Run at sensor_combined speed and publish all other sensors occuring
between 2 sonsor_combined samples.
This allows a crude replay in case ekf2 replay was not enabled during
the flight.
Parameter "void *val" passed to the functions in parameters.cpp are not always
4-byte aligned, so on some platforms direct casting to "int32_t *" or "float *"
leads to an unaligned exception. An example of such user is Logger, which directly packs
parameter values to character buffer.
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
The partial derivative of the flow observation with respect
to the terrain and height states involve calculating the derivative
of 1/x, which is -1/x^2. This function is even, making the estimate
diverge in case x (the height above ground) is negative.
The solution is to take the derivative of 1/|x|,
which is -x/|x|^3 and is an odd function; preserving the sign of x.
Note that for positive values of x, the expression reduces to -1/x^2
* gz: use server config file for loading world plugins
* submodule
* use server.config in tree
* newlines
* format
* gzbridge: rename function
* format
* gzbridge: add magnetometer callback
* change gz_find_package to find_package
* fix up directory structure and cmake to allow multiple plugins
* newlines
* add comment block explaining gz_env.sh
* remove dupe readme
* remove SENS_EN_MAGSIM from all gz airframe files except spacecraft
* update gz submodule
Letting the autopilot set the heading during landing while the pilot is
nudging the vehile leads to a weird UX as the vehicle would make a turn
instead of translating.
With this modification, the initial land heading is immediately overridden when the pilot
begins to adjust the drone's position, providing the sensation of full control.
readAndAddSubscription uses nextDataMessage to find the first
corresponding data and nextDataMessage calls readAndAddSubscription
when it finds a new message definition.
* added optical flow to gz bridge
* log high rate sensor data
* it builds
* it builds and publishes, need to figure out build system now
* single library
* rename files
* add gz_msg for proto, fix build, test basic flow impl
* update rate, no blur
* PX4-OpticalFlow impl
* rename OpticalFlowSensor
* rename plugins
* disable gps, add plugin path
* cleanup
* fix plugin path export
* properly add OpticalFlowSystem dependency to gz
* move everything under gz_bridge
* cleanup
* add GZ_VEBOSE
* cleanup model/world build target cmake
* added GZ_DISTRO env, harmonic or ionic
* fix gz transport, unstage ark fpv bootloader
* unstage logged_topics.cpp
* cleanup
* make format
* ci fixes
* fix cmake
* remove required for gz-transport
* use model/world namespace for multi vehicle sim. Make format
* make format
* license
* remove needless member var
* made separate Kconfig for gz_msgs, gz_plugins, and gz_bridge
* move OpticalFlow build to it's own cmake
* fix clang
* cleanup comments
* fix rebase
* disable SENS_EN_GPSSIM for all gz airframes
* add GPS + noise to GZBridge
* remove mutex from gz callbacks. Callbacks run synchronously after sim update step and run() loop does not share resources.
* remove hrt check in callbacks
* format
* remove param set-default for already default params
* update submodule
* remove unnecessary comments
* overhaul of the GZBridge and px4-rc.simulator script
* remove arg
* shellcheck disable
* add bus/address
* start gz_bridge before adjusting sim speed or camera follow
Setting "lockdown" disables the actuators. In this mode,
"force_failsafe" has no effect as the actuators are disabled, so the
parachute is not getting released as it requires the output to change to
its failsafe value.
* [ulanding_radar] Fix comms error perf counter usage
* [ulanding_radar] Workaround for lost messages by lowering sampling rate
The current implementation of the Aerotenna uLanding radar driver assumes that
the UART frames are received in full. If the driver polls with 10ms this is not
always the case and the driver will fail to parse the frame leading to
significant packet loss. This workaround polls at 12ms which ensures that at
least one entire frame is received.
Previously, when requesting a mode switch to Position without a valid
position estimate through an RC button, the mode change to Position mode
was not rejected if COM_POSCTL_NAVL was set to 1 and instead the system
switched to Altitude mode.
If the mode request instead came in through MAVLink it was rejected.
This commit aligns the two ways of changing a flight mode.
Signed-off-by: Silvan <silvan@auterion.com>
We had a setup where the voltage was right at the threshold and the check
toggled continuously.
It still triggers immediately, and then keeps for 15 seconds
* cmake: bump min version to 3.16.3, which is what Ubuntu 20.04 ships with
* reduce to cmake 3.10
---------
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
* add optical flow arming check
* removed deprecated mavlink_log_critical
* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.
* restructure if/else blocks
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off
* Increase queue length to avoid automatically unadvertise queued publications with queue length 1
* Improve readability
---------
Co-authored-by: Pernilla <pernilla@auterion.com>
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.
Signed-off-by: Silvan <silvan@auterion.com>
* remove temp field from airspeed.msg, adjust temp selection
* temp-sensor hirarchy: airspeed, ext. baro, default value
* directly use diff-press or baro temp in true-airspeed calc
* improve clarity
* add enum for temperature source in VehicleAirData.msg
- Updated to the latest version of the voxl2_io driver from the ModalAI fork.
- Moved to the platform independent Serial driver
- Added voxl2_io driver to the SLPI DSP build
- VOXL 2 builds use DISABLE_PARAMS_MODULE_SCOPING for parameters. The new spacecraft module has duplicate symbols with the control_allocator module and so this kills the VOXL 2 build
See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
## Changing code and contributing
## Changing Code and Contributing
This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
@@ -35,7 +37,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
### Weekly Dev Call
## Weekly Dev Call
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
@@ -44,96 +46,17 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
## Maintenance Team
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
## Supported Hardware
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
### Pixhawk Standard Boards
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
# start last (wait for possible icm20948 passthrough mode)
ak09916 -X -q start
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