Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
-> need to re-evaluate can_run
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.
With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.
Signed-off-by: Julian Oes <julian@oes.ch>
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.
According to https://linux.die.net/man/3/pthread_cond_destroy:
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Previously the condition was based on hard coded height rate estimate and
setpoint values and an altitude error threshold. That showed to be leading
to false positives when the vehicle doesn't tightly follow the altitdue
ramp given by TECS to achieve a new altitude setpoint, and has become
completely infeasibly with the latest TECS rework that leads to non-ramped
altitude setpoint changes in the tecs_status message.
The new check no longer checks the altitude error but only the height rate
instead. It begins to integrate the height rate error once it detects an
uncommanded descend condition (height rate negative while setpoint is
positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
- update motor mapping to use new UART_ESC_FUNC* auto generated params
- add support for actuator_test msg to support Actuator Testing in QGC
- modalai_fc-vX targets start driver if configured
- keep track of ESC spin direction in own param
- set ramp up param in MixerOutput to false
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
- additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
- use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
For the esc_calibration code, the actuator test is published for each motor
in a row. If the orb queue size is too small, messages are lost and not
received in mixer_module.
Set the default orb queue size of ActuatorTest high enough to keep the commands
for all motors in the queue.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Strictly follow the following convention for tailsitter:
FW Attitude and FW rate controller always operate in the FW frame, meaning that roll is
roll in FW, which for tailsitter means around the yaw axis in the body frame. The interfaces
between modules is though always in body frame.
That enables us to do the axis transformations for tailsitter, that are currently distributed
all over the controller (attitude, rate, vtol module), only at the input and output data of modules.
Side effect is that the FW rate control tuning gains meanings change: while before the roll gains
where meant for the body axis, they are now always applied for the FW roll axis (also in hover). So
the naming now is correct for FW, while before it was for Hover.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort
- increasing by 50% to be conservative
When we receive a command_long or command_int message to
answer, it arrives with a source sysid/compid, so this means we can send
the command_ack back on the appropriate MAVLink instances instead of all
of them.
This commit filters outgoing command_ack messages, so they are only sent
on the MAVLink instances where the sysid/compid has been seen in the
past.
This means that a command_ack is likely still sent on multiple links for
a setup with redundant links.
This should also prevent command_acks from being blasted on Iridium links
when it's not required.
Signed-off-by: Julian Oes <julian@oes.ch>
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
On CubeOrange where no console is configured by default, starting
MAVLink shell just stalls, and doesn't work.
Also, logfile download has been reported not to work, and again, seems
to work with this change.
Signed-off-by: Julian Oes <julian@oes.ch>
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
- Replace non-standard M_PI constants with PX4 defined M_PI_F constants
- Include missing header file for function hrt_absolute_time declaration
- Add new PX4_SOC_ARCH_ID for the VOXL2 board
- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
* AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS
Previously the vehicle_air_data.temperature and pressure was used, instead of the
density field directly.
Only makes a difference if there is an airspeed sensor connected to provide
the air temperature.
* AirspeedSelector: only safe estimated scale in param if airspeed is valid
* AirspeedSelector: remove 0.01 cliff for saving learned scale to param
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This checks was introduced to catch the (unlikely) case of the driver publishing
a stale value that is not actually from a current measurement right after boot.
This was done by declaring it invalid if there is no update of the measurement
within the first 10s after boot.
Practice though has shown that around 0, many airspeed sensors have such a low
resolution that the reported airspeed value is often at the exact same value
for longer periods of time on totally healthy sensors, and thus we trigger
some false positive failure detections.
Given that this failure mode (driver publishing stale data) is quite rare (if
it doesn't receive new data it should stop publishing), I remove this check
here again.
When in aerodynamic flight mode and armed, there is still the data stuck
check that can trigger if there is no update for 2s.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* GPS_RAW_INT: Only send no gps messages if gps has ever been present
* GPS2_RAW: Keep in sync with GPS_RAW_INT
Signed-off-by: Marcell Rausch <marcell@auterion.com>
- respect new EKF2_EV_CTRL parameter for VPOS usage
- EV hgt rotate EV position before usage (there's often a small offset in frames)
- EV hgt reset use proper EV velocity body frame
- try to keep EV hgt and EV vel state machines consistent
- small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
- first version of IMU driver for the VOXL 2 platform (Qurt)
- this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory
- don't store unnecessary IMU copy in class, pass it through where required
- remove custom pi constants
- remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
- explicitly initialize everything in header
- apply PX4 code style
- set GPS velocity before yaw estimator update, not after
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
- PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
- currently doesn't do much other than allow you to build px4 msgs interface package
Multiple agents can connect to the same client
For sitl builds, if the intance number is different from zero,
XRCE_DDS_KEY is set to the instance number and
the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port 8888
If the instance number is equal to zero
XRCE_DDS_KEY is left untouched and
the microdds_client is automatically started
without namespace
and udp port 8888
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
The partecipant name is modified into
"client_namespace"/px4_micro_xrce_dds
For sitl builds the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port
8888+"intance_number"
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
With openjdk 17.0.5 2022-10-18, jmavsim fails to start due to missing
exports. This was previously a warning and turned into an error now.
Caught AppContextInfo(Bug 1004) InaccessibleObjectException: Unable to make public static sun.awt.AppContext sun.awt.AppContext.getAppContext() accessible: module java.desktop does not "exports sun.awt" to unnamed module @2c767a52 on thread J3D-Renderer-1
[0]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:354)
[1]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:297)
[2]: java.base/java.lang.reflect.Method.checkCanSetAccessible(Method.java:199)
[3]: java.base/java.lang.reflect.Method.setAccessible(Method.java:193)
[4]: com.jogamp.nativewindow.awt.AppContextInfo$1$1.run(AppContextInfo.java:40)
[5]: com.jogamp.common.util.UnsafeUtil.doWithoutIllegalAccessLogger(UnsafeUtil.java:219)
[6]: com.jogamp.nativewindow.awt.AppContextInfo$1.run(AppContextInfo.java:34)
[7]: java.base/java.security.AccessController.doPrivileged(AccessController.java:318)
[8]: com.jogamp.nativewindow.awt.AppContextInfo.<clinit>(AppContextInfo.java:31)
[9]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
[10]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
[11]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
[12]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:77)
[13]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
[14]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
[15]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
[16]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
[17]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
[18]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
[19]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
[20]: java.desktop/java.awt.Container.addNotify(Container.java:2804)
[21]: java.desktop/java.awt.Window.addNotify(Window.java:791)
[22]: java.desktop/java.awt.Frame.addNotify(Frame.java:495)
[23]: java.desktop/java.awt.Window.show(Window.java:1053)
[24]: java.desktop/java.awt.Component.show(Component.java:1728)
[25]: java.desktop/java.awt.Component.setVisible(Component.java:1675)
[26]: java.desktop/java.awt.Window.setVisible(Window.java:1036)
[27]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
[28]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
[29]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Caught AppContextInfo(Bug 1004) IllegalAccessException: class com.jogamp.nativewindow.awt.AppContextInfo cannot access class sun.awt.AppContext (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52 on thread J3D-Renderer-1
[0]: java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:392)
[1]: java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:674)
[2]: java.base/java.lang.reflect.Method.invoke(Method.java:560)
[3]: com.jogamp.nativewindow.awt.AppContextInfo.fetchAppContext(AppContextInfo.java:191)
[4]: com.jogamp.nativewindow.awt.AppContextInfo.update(AppContextInfo.java:135)
[5]: com.jogamp.nativewindow.awt.AppContextInfo.<init>(AppContextInfo.java:50)
[6]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
[7]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
[8]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
[9]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:77)
[10]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
[11]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
[12]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
[13]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
[14]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
[15]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
[16]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
[17]: java.desktop/java.awt.Container.addNotify(Container.java:2804)
[18]: java.desktop/java.awt.Window.addNotify(Window.java:791)
[19]: java.desktop/java.awt.Frame.addNotify(Frame.java:495)
[20]: java.desktop/java.awt.Window.show(Window.java:1053)
[21]: java.desktop/java.awt.Component.show(Component.java:1728)
[22]: java.desktop/java.awt.Component.setVisible(Component.java:1675)
[23]: java.desktop/java.awt.Window.setVisible(Window.java:1036)
[24]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
[25]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
[26]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Exception in thread "main" java.lang.reflect.InvocationTargetException
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:568)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.RuntimeException: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52
at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8553)
at javax.media.j3d.Screen3D.<init>(Screen3D.java:354)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1124)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1026)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:990)
at me.drton.jmavsim.Visualizer3D$CustomCanvas3D.<init>(Visualizer3D.java:909)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:196)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
at me.drton.jmavsim.Simulator.main(Simulator.java:944)
... 5 more
Caused by: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52
at java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:392)
at java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:674)
at java.base/java.lang.reflect.Method.invoke(Method.java:560)
at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8551)
... 13 more
* VTOL: take home_position into account for ground clearance
For approximating distance to ground in case there is no valid distance sensor
data, subtract the home position altitude from the local position altitude.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Instead of always starting with instance 0 (potentially an internal
mag), first take the current sensor as reference to compare the other
ones against it.
The issue is that otherwise we can end up in a
situation where a switch occurs because the currently used sensor isn't
much better than a sensor with a lower index: because the selected one
isn't much better, we cannot "fail-over" to it and get stuck on another
sensor, triggering a fail-over.
- WelfordMeanVector now computes covariance
- use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
- WelfordMean and WelfordMeanVector handle initial value and count roll over
- Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
- sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
- fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
- gyro_calibration: update Welford mean usage
This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
Add ARK_FMU_V6X to RCS netman
Remove arkv6x rc single wire
Fix arkv6x mtd
arkv6x bootloader init all pins to prevent power cycling peripherals on boot
arkv6x don't power cycle sd card on boot
arkv6x add UART4 Telem 4
Also applies to Loiters that are started due to the previous mode being over (Takeoff,
VTOL_Takeoff, Mission).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
Use kClearanceAltitudeBuffer for it, which is also used to ensure that during takeoff an
altitude setpoint above the clearance altitdue is set.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
previously, the next position setpoint in the triplet was left unchanged during an abort, which meant that the abort loiter current point combined with land next point triggered the early landing config logic. this commit is only a hack to make things work temporarily.. this needs to be handled better.
- explicitly defined takeoff airspeed setpoint
- dont use climbout mode
- allow max climb on takeoff
- dont handle post clearance altitude case (navigator will switch anyway)
Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- also put flaring internal states into a struct to organize a bit
- one concern with blending the throttle setpoint like this with the flare time param is that folding prop belly landing airframes may want to have a separate param for shorter throttle kill and still use the flare time ramps for everything else
abruptly changing to a heading setpoint on flare can cause the aircraft to roll and deviate from the runway, this commit
- maintains path following control during the flare not to disrupt the tracking just before touchdown
- (unfortunately for crosswind landing) removes the body axis alignment for runway bearing - this is a compromise
to achieve both runway bearing body axis alignment AND a specific touchdown point, either
1. the wind would need to be considered, and an appropriate diagonal approach (obstructions allowing) defined to the runway
2. slip control added, keeping path following outputs only commanding roll (controlling airspeed vector) and using yaw-rate command (only actuated by e.g. rudder) to align body axis with the runway
- consolidate takeoff rotation transition times for pitch constraints and throttle setpoint with a single param
- consolidate pitch takeoff constraint parameters (remove rwto_max_pitch, use nominal max)
- input correct units to rwto pitch constraint getters
- encapsulate absolute time interpolator method for transitions
- start runway ops from idle throttle
TECS climbout mode was used for takeoff climbout, which puts throttle to full and does not regulate a specific airspeed.
This commit sets the desired takeoff airspeed explicitly and allows max climb rate to track the ascent.
previously a scale factor param on min airspeed was used to define the climbout airspeed for runway takeoff
additionally, the rotation speed was defined by another hardcoded scale on top of the previously scaled min airspeed
this commit explicitly defines a takeoff speed and rotation speed for runway takeoff in params, with option to disable
Before, the logic to update disarm and rate values also triggered during
bootup on the px4io, because the output functions are only set in
updateSubscriptions().
Therefore change the check to prevent updating during the first cycle.
When using ignition SITL simulation with NO_LOCKSTEP, the SITL PX4 fails to update the IMU data from Ignition Gazebo.
The timestamp for the IMU data is taken from the ignition message:
- In LOCKSTEP mode the clock from the ignition simulation and the one from PX4 SITL are synchronized, hence everything works fine
- In NO_LOCKSTEP mode, those clocks are not synchronized anymore, so the timestamp for the IMU data should not be the one from Ignition but the current time in PX4 SITL when receiving the message.
The update function of InputMavlinkGimbalV2 returns UpdatedNotActive when receiving control commands from a system or component that doesn't match the primary control. This can happen if a component just sends commands without being in control or when transitioning to a different primary control.
If the input is marked as already_active, it will reset last_input_active which in turn resets the primary control in the next iteration. According to the MAVLink gimbal protocol v2, a component needs to send MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE to start controlling the gimbal and to remove control. However, with the current implementation there are several other commands that would reset the primary control.
With this PR, the primary control remains with the component that requested it last if updates from a not active component are received.
* Log position setpoint reference of npfg
This commit logs the local position setpoint reference when using NPFG
* Address review comments
This commit address review comments from @tstastny
Replace the existing check for the availability of a takeoff mission item with a combined
check for takeoff and landing item (or landing pattern). New param MIS_TKO_LAND_REQ
can be set to require only a takeoff, only a landing, both takeoff and landing, and
both or none. The latter is meant to be set if is e.g. deemed unsafe to start a flight
through a Takeoff WP without though defining a Landing - as then in case of a RTL the
vehicle doesn't follow a pre-defined path but instead only can do default RTL that especially
for FW and VTOL isn't always safe.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Previously the minimum airspeed setpoint was adjusted to the load_factor compensated
stall speed, which, when the stall speed was set without margin, gave the controller
no room for error (the vehicle would stall if the controller has even a small airspeed
error).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- Include board_config.h for BOARD_GET_EXTERNAL_LOCKOUT_STATE etc. macros
- Include fcntl.h for "open"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* LandDetectorMC: enforce that LNDMC_Z_VEL_MAX * 1.2 is below *MPC_LAND_CRWL/MPC_LAND_SPEED
Otherwise the _in_descend flag doesn't get set correctly during the last part
of the landing, where the descend speed is at MPC_LAND_CRWL or LAND_SPEED.
The _in_descend flag is set it the velocity setpoint is >1.1*LNDMC_Z_VEL_MAX.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can
more easily be configured independently.
* Removed board specific link library command from px4_config.cmake and moved it to a more generic
board specific solution that can be used by any board that needs custom link libraries.
* Removed redundant cmake command for Qurt
* Removed unused definition from Qurt cmake file
* Removed unnecessary QURT_LIB cmake function
* Reorganized the voxl2 build structure to avoid 4 level board directories.
* Reverted cmake files to remove 4 level board naming code
* Updated documentation
- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Fixes a regression from 8bae4e5c0e, where
the orbit flight task wasn't an extra task (flight_tasks_to_add) anymore
and therefore the command handling wasn't generated.
There was a race condition that could cause several outcomes. The most severe
was that flight_mode_manager gets the command, switches to orbit and then
in the next iteration switches back because commander did not change
nav_state yet. When commander then switches, flight_mode_manager would still
be in the old mode.
This is prevented by storing the command (allowing it to arrive before or
after mode switch), and then apply it after the switch happens.
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
- individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
During the whole flight, if the difference between the yaw estimate from
EKF2 and the emergency estimator is large and that the GNSS velocity
fusion is failing continuously, immediately reset to the emergency yaw
estimate.
- with Ekf::initialiseFilter() resetting _time_last_hagl_fuse the terrain estimate was technically valid regardless of any range or flow data availability and as a result optical flow fusion is able to start and stay active
- only consider terrain estimate valid based on control status flags and recent fusion
The CameraFeedback module used only the vehicle attitude for the camera orientation so far. With this change, the gimbal_device_attitude_status is used to compute the global camera orientation when a gimbal is used.
In this case it did not cause any problems.
Fixes a compiler warning:
/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp:39:21: error: member ‘HealthAndArmingChecks::_failsafe_flags’ is used uninitialized [-Werror=uninitialized]
39 | _reporter(_failsafe_flags)
| ^~~~~~~~~~~~~~~
* simulator_mavlink: Add basic vio failure injection
Signed-off-by: Paul Frivold <paul@kefrobotics.com>
* simulator_mavlink: Rm failure not supported warning
Failures commands are also handled in other files,
so warning here could be confusing.
Signed-off-by: Paul Frivold <paul@kefrobotics.com>
Signed-off-by: Paul Frivold <paul@kefrobotics.com>
previous change in logic to hold after mission clear also broke rtl, as non-mission takeoff still published a mission result which allowed entering the mission finished condition and always changing state to loiter (ignoring rtl). new logic only switches navigation states if mission is finish and the nav state is explicitly in takeoff state, or in mission state
The srcparser.py is specific to each use case (e.g. Airframes, Parameters, px4events, etc as in Tool/* folders).
Therefore it is confusing to have the px_process_airframes.py script handle concept of airframes under the generic name 'params'.
This improves readability and sets the baseground for implementing more specific vehicle type supports, as mentioned in https://github.com/PX4/PX4-user_guide/pull/1858#discussion_r876554728
once the rampup starts. The rampup requires a valid vertical velocity setpoint.
The corner case is:
- We are before takeoff and amending the setpoint to be 0,0,100 acceleration
in order to idle
- The rampup starts BUT the setpoint is not yet overwritten by the trajectory
setpoint topic
- The idle setpoint gets amended to not contain a feed-forward vertical
acceleration because the rampup is velocity based
- The result is a brief invalid 0,0,NAN acceleration setpoint
- That invalid setpoint gets overridden by a failsafe that holds zero velocity
- Zero velocity leads to applying ~hover thrust briefly
- buffer at least 2 samples for the IMU output predictor buffers
- dropping below 2 becomes problematic for the minimum observation
interval calculation and the vertical output buffer trapezoidal
integration
arm
- Previously, due to the way MAVSDK's `health_all_ok` was implemented,
vehicle often didn't have a valid global position estimate (although
function returned true), and it wouldn't arm, and the SITL would fail
- Also sometimes as vehicle didn't have manual control, it entered weird
states where it wasn't able to arm as well
- This adds a check to make sure vehicle is able to arm, directly from
the Health struct
- preflight mag bias estimate is in the vehicle body frame and removed from the raw mag data after it's rotated, calibrated, etc
- in flight mag bias (from ekf2) is in the vehicle body frame, but stored as a sensor frame offset immediately
* Enable motor controls for fixed wing mode in tailsitters
This commit enable motor controls in fixed wing mode for tailsitters
This is needed for enabling quad tailsitters
* VTOL: differential thrust in FW: adapt params to be generic for all axes
Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.
- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Integrate differential control bits to three axis control
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
It's enough that the setpoints and the unallocated values are logged, from these
the allocated values can be calculated if required.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
It's very important that the in descend detection is always
at a strictly higher velocity than the vertical movement check.
This combination is basically used to check for vertical downwards
velocity tracking. Desired descend, no movement -> ground
If in descend threshold is lower than vertical movement it is
by definition even with perfect tracking the case that with
any velocity between the two thresholds there is no movement
even though a descend is commanded.
See first fix of this problem #7831e39b38ba96
I don't see where this is necessary. During takeoff, the maybe landed flag should
only get cleared once system is about to takeoff, and thus well after the spool up
is complete (for which the higher thresholds are meant in this case).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Don't consider these params for vertical speed threshold,
and instead increase the default for LNDMC_Z_VEL_MAX and
use solely that one. Makes the land detector outcome more
predictable and its interal logic simpler, while the new
default tuning is resulting in about the same vz threshold
as before.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Changed M_PI to M_PI_F in the matrix library since M_PI is non-standard.
* Added a new M_PI_PRECISE constant definition to px4_platform_common/defines.h to be
used in places when M_PI is desired but shouldn't be used because it is not C standard.
* Added the px4_platform_common/defines.h include to the matrix library math.hpp header to pull
in some non-standard M_PI constants and updated the test files to use those constants.
* Fixed PI constants in matrix helper test to prevent test failure
before there was a corner case where if in an auto mode that sets a reset command on the attitude setpoint message (e.g. auto takeoff), if the mode was then switched stabilized, this reset bool would never be changed back to false and the integrators would reset every cycle
* Removed dprintf from perf library since it is only ever used with fd=1 (STDOUT) so moved to PX4_INFO_RAW instead. This helps with some platforms (e.g. Qurt) which have some Posix support but not full Posix support.
This was previously required to reset the flight speed after a VTOL transition,
but is now no longer required as the DO_CHANGE_SPEED commands are handles directly
in the controllers.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes the issue where the init happended in the initializer list, at which point
the params were not yet initialized and thus resulted in random values for the init
values of _mission_item.loiter_radius and .acceptance_radius.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Refactor
- Require reboot for PD_GRIPPER_EN parameter change
- Define gripper ACTION_NONE for readability. This makes implicit assumption that -1 equals no-action commanded more explicit
- Tidy the scattered vcmd_ack struct handling cases into a single function
- Refactor to remove return in the middle of function: avoids future complications where a programmer may expect the logic at the end of the function to be executed, but isn't
Vehicle Command Handling
- Cancel the previous running vehicle command if we receive a different vehicle command
- Reject vehicle command if we get a same one that is getting executed
- Save the source system & component of currently running vehicle command
- Added note about new discovered edge case of having same entity sending different gripper commands consequently, where an unexpected ack result may be received
Gripper:
- Don't command gripper (via uORB `gripper` topic, which maps into an
actuator via Control Allocation) if we are already at the state we want
(e.g. Grabbed / Released) or in the intermediate state to the state we
want -> This prevents spamming on `gripper` topic
Payload Deliverer:
- Add read-once function for Gripper's released / grabbed state
- Send vehicle_command_ack for both release/grab actions.
TODO: target_system & target_component for the released/grabbed vcmd_ack
is incomplete, since we are not keeping track of the vehicle_command
that corresponds to this. This needs to be dealt with in the future, not
sure what the best solution it is for now.
Possible solutions:
- Queue-ing the vehicle command?
- Tying the gripper's action to specific vehicle command one-on-one, to make sure if we send multiple vehicle commands, we know
which command resulted in the action exactly?)
Only command Gripper grab when we are actually initializing gripper
- Previously, on every parameter update, gripper grab was being
commanded
- This commit narrows that scope to only when we are actually
initializing the gripper
Handle gripper de-initialization upon parameter change
- Also added some local state initialization code to init() function of
Gripper
- This will now make init / de-init more graceful & controlled compared
to before
- This hopefully then alerts the GCS that the command is getting
processed
- Referenced commander's `handle_command` function to implement this. As
it seems like GCS needs the acknowledgement of the command being
processed to execute such commands properly
- Also send FAILED command ack if we can't actuate the gripper
Fix wrong GRIPPER_ACTION conversion from floating point to int32_t
- Due to the MAVLink spec, we actually just convert enums into floating
point, so in PX4 we need to convert the float directly into integer as
well (although there can be precision issues on large numbers)
- This is a limitation in MAVLink spec, and should hopefully be
changed in MAVLink v2
Affects the states AUTO_ALTITUDE and AUTO_CLIMBRATE. Those modes should only be entered
if armed (as they are pure failsafe modes). Also allow though to enter them even if
the position setpoint(s) are invalid, as they are not needed.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Instead of checking the .valid flag of position_setpoint, check for ISFINITE() of lat, lon, alt
when pulling the position_setpoint triplet. This fixes problems where the .valid flag didn't
reflect the proper state of the setpoint (e.g. .valid was true, .lat though NAN)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
the nuttx and posix specific options files since this option cannot be used with
the qurt platform. There are header files in the hexagon sdk that fail this check.
as Tools/update_px4_ros2_bridge.sh as been deleted
update_ros2_bridge, update_px4_ros_com and update_px4_msgs
are no more needed
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
- vehicle_angular_velocity: ESC RPM notch filters minimize filter resets
- only allow one filter init per axis per cycle
- "park" ESC notch filters at min frequency instead of full disable
- relax timeout before a notch filter is disabled
- add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency
- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
- most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
- likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
This fixes a bug where by accident the vtol_status was considered instead of the
vehicle_status, preventing it from running on planes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit fixes feedforward acceleration setpoints for fixedwing offboard position control.
Previously when acceleration feedforward inputs were sent, negative curvature accelerations were not being computed properly
ekf2: merge mag 3d innov var, Hx and Kx computation to reduce flash
Slightly less code produced, almost no performance change
ekf2_mag3D: do not pre-compute Kalman gains
The vector of Kalaman gains is not too expensive to compute using
matrix-vector multiplication. Pre-generating it using CSE takes a lot of
flash space for little benefit.
- this is a precaution to eliminate the possibility of getting stuck in
a loop trying to keep up with a high rate publication that could be
coming from a higher priority task
- in the worst case scenario printing the error message can take longer than the next gyro publication, so combined with an infinite loop you could get stuck here
The previous default for yaw and roll was 0.2, which is very low, and for wheel was
1, which is very high. A value of 0.4 makes sense to me for all axes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
I guess this was a left over from times where the controller had a completely different structure,
a value of 50 is well outside of reasonable range (50x the default).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The previous max of 10 for the FF gains seems a bit very high for me, well outside
of reasonable reange.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- Fixed clearing arming word if flightmode unknown
- Added power and cell voltage elements
- New OSD layout
- Fixed home direction/distance are now correct
Co-authored-by: Chris Seto <chris1seto@gmail.com>
Moves the arming checks before the command handling.
This reduces the chance of race conditions. However it does not prevent
them! The SDK will need to check when offboard is ready to run/arm to fix
this.
Specifically this is for sitl offboard tests, where offboard_control_mode
is updated and immediately after a mode switch into offboard is commanded.
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
- we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
* Changed sitl_gazebo to the advanced liftdrag plugin fork.
* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).
* Switched gazebo back to main branch, to avoid merge conflicts.
* Change simulator bridge back to what it was in main branch
* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)
* Changed SimulatorIgnitionBridge to match most recent main.
* Removed exit after dsp signature generation.
* First full test suite
* Cleaned up the muorb tests
* Improved VOXL 2 self test trigger in startup file
* Removed unneeded include file
This removes the odd px4_i2c_bus_external override which was confusing
me and lead to odd and inconsistent results.
The function is now only available with an int as the argument.
- Previously it was hard to check which state the gripper was in
(GRAB/GRABBED/ etc), not even whether it was correctly initialized, this
commit adds that functionality
- When the gripper was uninitialized, the error message popped up
everytime the module had 'any' vehicle command received. But we should
be spamming only when we do actually get 'DO_GRIPPER' command received,
this commit adds that feature
- Also converted error messages for CLI when gripper test functinality
fails, so that user would get a feedback (originally, the PX4_DEBUG was
of course not outputting everything)
Also containst a mini refactor by removing the unnecessary function
get_default_altitude_acceptance_radius().
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This new check is inteded to trigger if there is no data variation published by
the airspeed driver for the first 10s after the first data is published.
This is to capture malfunctioning sensors/drivers that do publish a value, this
value though does not come from real sensor measurements.
Previously this was captured by the data stuck check, but it has shown that
some drivers can publish a stuck value without being actually malfunctioning
(e.g. when the airspeed is outside of their measurement range). Checking for
any data variation is the more conservative check that still catches the above
described failure case.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
When a mission starts capturing images using the
MAV_CMD_IMAGE_START_CAPTURE command, it should also stop it again, in
case it is stopped early, e.g. with RTL.
Issue addressed: ROS2 is built from source and
no system-wide version of fastrtps is installed
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
Such that the loiter (orbit) status can be displayed on groundstation
and the WP is accepted once within loiter radius
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- To check stack smashing (buffer overflow)
- To check if the buffer without enough length gets appropriate values
filled
- To check if the format has expected length
- Previously, not having a proper boundary check caused overflows in the
buffer (wrong memory access)
- Moreoever, negative size values getting introduced to snprintf &
strncat were also being truncated to unsigned value, hence causing
overflow, so index check needed to be added before both functions
- Fixed typo in board_common.h
If the current yaw setpoint is valid we should use it to make the transition in this direction.
For a VTOL_TAKEOFF the yaw_setpoint is used to specify the transition direction (the
vehicle is aligned towards it and then transition is started). The current yaw can be
a bit off (e.g. because MIS_YAW_ERR is large), and it is better to track the actual setpoint.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
- simulator_ignition_bridge only try setting the system clock in
lockstep builds
- this simplifies usage and CI system dependencies
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export)
- rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt)
- posix rcS try to keep param backup and restore roughly in sync with NuttX rcS
- tinybson fix debug printf format
- param_export_internal ensure file descriptor positioned at 0 (precaution)
This state is added to give extra time between FIFO flush command. Some icm42688p IMUs need more time between config -> FIFO reset -> FIFO read. More about the issue #20181
As I understand it, only Rev 3 and Rev 4 were shipped by HB for Mini and
CM4, and are likely to be used for it.
It would be nice to have all combinations but it requires quite some
flash in the current implementation.
For targets that define the SPI buses via px4_spi_buses_all_hw, a call
to px4_set_spi_buses_from_hw_version() is needed. Otherwise a NULL
de-reference will occur when trying to access px4_spi_buses.
Fixes a system crash in px4_fmu-v5_protected:
up_assert: Assertion failed at file:armv7-m/arm_memfault.c line: 101 task: wq:lp_default
This feature allows user to use a Gripper type pacakge delivery
mechanism on a drone to trigger the delivery during a mission via the
mission item `DO_GRIPPER`.
This is a minimal change that is intended to have simplest pacakge
delivery feature on PX4, however the future scope would extend this
feature out of Navigator, and rather move towards a federated PX4
(flight-mode flexibility) architecture. But until then, this will serve
the purpose.
Update Tools/sitl_gazebo submodule to remove sdf file overwrite error
- There was an error happening due to .sdf file being overwritten, it
was caused by a wrongfully added. sdf file.
- This update pulls in the PR commit: https://github.com/Auterion/sitl_gazebo/pull/147
Initial cut on supporing PAYLOAD_PLACE mission item
Tidy and comment on navigation.h to clarify mission item definition
- Convert vehicle command ack subscription data type to
SubscriptionData, to not care about having a dedicated struct for
copying the latest data
- Tidy and comment on navigation.h to clarify the definition of
mission_item_s, which is confusing as it is an intergration of MAVLink
Standard into PX4's internal Mission Item structure
Rename mission_block's mission item reached function & cleanup navigator
- Isolated Handle Vehicle Commands function inside the Navigator
- Rename mission_block's mission item reached function to 'reached or
completed', as the navigation command can also be an action (e.g.
DO_SET_SERVO, which doesn't make sense to refer to as 'reached' when we
have successfully done executed the command)
Include MAVLink PR commit to include payload_drop message
More changes to add payload_drop MAVLink message support
- Comitting for testing purposes
Add mission item payload_drop to vehicle command payload drop link
- Now with a mission item with the nav_cmd set to 'payload drop', the
appropriate 'payload drop' vehicle command will be issued
Make Payload drop executable via Mission Plan
Implement payload_drop module to simulate payload delivery
- Simple module that acknowledges the payload drop vehicle command after
certain time, to simulate a successful delivery
Additional changes - payload drop module not working yet
- Need to do more thread stuff to make it work :(
Fix Payload Drop enum mismatch in vehicle_command enums
- First functional Payload Drop Implementation MVP
- Simple Ack & resuming mission from Navigator tested successfully
Hold the position while executing payload drop mission item
- Still the position hold is not solid, maybe I am missing something in
the position setpoint part and all the internal implications of
Navigator :(
Add DO_WINCH command support
Some fixes after rebase on develop branch
- Some missed brackets
- Some comment edits, etc
Add DO_WINCH command support
- Still has a problem of flying away from the waypoint while the
DO_WINCH is being executed, probably position setpoint related stuff :(
Apply braking of the vehicle for DO_WINCH command
- Copies the behavior of NAV_CMD_DELAY, which executes a smooth, braking
behavior when executing the delay because of the braking condition in
`set_mission_items` function
- This will not apply to Fixed wings
- The payload deploy getting triggered may be too early, as right now as
soon as the vehicle approaches the waypoint within the acceptance
threshold, the payload gets deployed
Add DO_GRIPPER support
Implement Gripper actual Hardware triggering support
- Currently not working, possibly in the mixer there's a bug
- Implemented the publishing of actuator_controls_1 uORB topic
- Implemented the test command for the payload_drop module, to test the
grpiper functionality
- Edited px4board file to include the payload_drop module
- Added Holybro X500 V2 airframe file, to enable testing on X500 V2
- Created new Quad X Payload Delivery mixer, which maps the actuator
controls 1 topic's data into the MAIN pin 5 output
Make Payload Drop Gripper Work
- Initialization of the Gripper position to CLOSED on Constructor of the
payload_drop module
- Setting the OPEN and CLOSED value to the appropriate actuator controls
input
Set vehicle_command_ack message's timestamp correctly
- By not setting the timestamp, the ack commands were not correctly
graphed in PlotJuggler!
Rename payload drop module to payload deliverer
- I think it's a more complex name (harder to type), but more generic
Add Gripper class (WIP)
Add Gripper class functionalities
- Add gripper uORB message
- Add gripper state machine
Use Gripper class as main interface in payload_deliverer
- Utilizes Gripper class functions for doing Gripper functionality
Remove mixer based package delivery trigger logic
- Remove custom mixer files that mapped actuator controls to outputs
statically
Additional improvements of the payload_deliverer
Fix payload_deliverer module not starting
- _task_id wasn't geting set appropriately in task_spawn function, which
led to runtime failure
Add Gripper Function to mixer_module
- Still not showing up as function mapping in QGC, needs fix
Add parameters to control gripper behavior
- Now user can enable / disable gripper
- Also select which type of gripper to use
Applying review from nuno
Remove timeout fetching from mission item and use gripper's timeout
- Previously, it was planned to use a custom DO_GRIPPER and DO_WINCH
MAVLink message definitions with information on timeout, but since now
we are using original message definition, only relevant timeout
information is defined in the payload_deliverer class
- This change brings in the timeout parameter to the Navigator, which
then sets the timeout in the mission_block class level, which then
processes the timeout logic
Make payload deployment work for Allmend test :P
Support gripper open/close test commands in payload_deliverer
Move enum definition for GRIPPER_ACTION to vehicle_command.msg
Remove double call for ` ${R}etc/init.d/rc.vehicle_setup`
- Was introduced during the rebase
- Was causing module already running & uORB topic can't be advertised
errors
Fix format via `make format` command
Modify S500 airframe file to use for control allocation usage
- Added Control allocation related parameters as default to not have it
reset every time the airframe is selected
Implement mission specific payload deploy timeout and more changes
Switch payload_deliverer to run on work queue
Remove unnecessary files
- Airframe changes from enabling control allocation are removed
Address review comments
- Remove debug messages
- Remove unnecessary or verbose comments & code
- Properly call parameter_update() function
Switch payload_deliverer to scheduled interval work item & refactor
- Switch to Schedeuled on Interval Work Item, as previous vehicle
command subscription callback based behavior led to vehicle comamnd ack
not being sent accordingly (since the Run() wouldn't be called unless
there's a new vehicle command), leading to ack command not being sent
out
- Also, old vehicle commands were getting fetched due to the
subscription callback as well, which was removed with this patch
- Fix the wrong population of floating point param2 field of vehicle
command by int8_t type gripper action by creating dedicated function
- Refactor and add comments to increase readability
Add gripper::grabbing() method and handle this in parameter update
- Previously, the intermediate state 'grabbing' was not considered, and
when the parameter update was called after the first initialization of
the gripper, the grab() function was being called again, which would
produce unnecessary duplicate vehicle command.
- Also replaced direct .grab() access to sending vehicle comamnd, which
unifies the gripper actuation mechanism through vehicle commands.
Navigator: Change SubscriptionData to Subscription to reduce memory usage
- Also removed unused vehicle command ack sub
PayloadDeliverer: Remove unnecessary changes & Bring back vehicle_command sub cb
When hitting zero thrust by stick there is 0 torque authority
without airmode. So 0% minimum manual thrust should never be the default
without airmode.
Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.
This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
Move logic implemented in the header files to source files, this way
it will be simpler to define which is compiled to kernel space and
which to user space
Also allows to remove some headers that pull in half the universe
from the board definitions (which should just be pin definitions and
no functionality)
Fixes the compile error on llvm:
mixture of designated and non-designated initializers in the same initializer list is a C99 extension [-Wc99-designator]
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
- if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
- handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
- isRecent() and isTimedOut() helpers use delayed time
- add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
- print list of events whenever they change if
CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
For SITL it's important that the GCS receives the first events messages
that reset the sequence number, in case the user does not press 'Disconnect'
when restarting SITL.
- new modules/simulation directory to collect all simulators and related modules
- new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
- simulation module renamed to simulator_mavlink
- sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
- ignition_simulator renamed to simulator_ignition_bridge
- large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
- sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
- new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".
Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
Instead of having a single height source fused into the EKF and the
other ones "waiting" for a failure or the primary sensor, fuse all
sources in EKF2 at the same time. To prevent the sources from fighting against each
other, the "primary" source is set as reference and the other ones are
running a bias estimator in order to make all the secondary height
sources converge to the primary one.
If the reference isn't available, another one is automatically selected
from a priority list. This secondary reference keeps its current bias
estimate but stops updating it in order to be the new reference as close
as possible to the primary one.
- much simpler direct interface using Ignition Transport
- in tree models and worlds
- control allocation output configuration, no more magic actuator mapping to mavlink and back
- currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)
Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Since the horizontal and vertical velocity controllers are now
decoupled, it can be that the horizontal acceleration produced by the
controller is actually greater than the desired one (by design). This
condition would actually make the ARW run "backwards", degrading the
controller performance.
Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.
Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
Using the control status flags isn't robust as this part of the code
runs at the EKF update rate while the in_air transition is don at the
prediction rate. It was then likely to miss the transition
Fixes the error
googletest-src/googletest/src/gtest-death-test.cc:1283:24: error: ‘dummy’ may be used uninitialized [-Werror=maybe-uninitialized]
with GCC 11
For most VTOLs the param defaults for the agressiveness of the MC attitude controller
are too high, as VTOLs usually have high intertia and lot af drag due to wings and
can thus not rotate as fast as MCs.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
I think most vehicle can safely decend with at least 1.5m/s, and having this
value too low makes Descents/Landings/RTLs unnecessary long.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The VTOL default was set to 1, while the param default is 1.5.
I don't see why it shuold be a different default for VTOLs and thus remove it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
- these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
- ekf2: add new helper to get roll/pitch/yaw covariances
- mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
- mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
fix test by reducing the distance to the new origin: the maximum size of
the local position origin is a cube of 1e6m. If the origin is moved
further than this, the state is clipped to that maximum value
Navigator sets the cruise_speed to -1 if the controller shouldn't listen to
it and instead use the default speed (for MC: MPC_XY_CRUISE). This is for
example for RTL the case, where we want to return at the default speed,
independetly of what the mission speed before was.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Add support for the basic GPS telemetry values when using the GHST protocol.
* Fix formatting in GHST GPS telemetry changes
* GHST GPS Telemetry formatting cleanup
* GHST GPS Telemetry, Last formatting change
- synthetic airspeed will only be declared valid as soon as the wind variance
has dropped below a parameterized threshold. This is useful for vehicles without
an airspeed sensor which rely on synthetic airspeed but only once the vehicle
has turned sufficiently for the wind estimates to be reliable.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
<!--
## Describe problem solved by this pull request
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
E.g. For this use case I ran into...
Thank you for your contribution!
## Describe your solution
A clear and concise description of what you have implemented.
Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
## Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.
-->
## Test data / coverage
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
Some files were not shown because too many files have changed in this diff
Show More
Reference in New Issue
Block a user
Blocking a user prevents them from interacting with repositories, such as opening or commenting on pull requests or issues. Learn more about blocking a user.
Konrad