simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* events: pass relative paths plus base path to source parser script
to work around maximum Makefile command lenght limits.
* events: correct cmake comment typo
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
The _control_mode_current wasn't updated otherwise, and only done so by luck
because we already set the current type to SETPOINT_TYPE_POSITION.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- double required max consecutive counts
- don't continuously complain about round trip time (RTT) unless
there's been at least one acceptable round trip (latency < 100 ms)
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec
With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.
It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
- This fixes the force call on SensorSelectionUpdate
- In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
wait_until_altitude() checks for absolute altitude being
close so checking for 1m below the setpoint can fail
if the speedup results in no sample inside the altitude
window being checked.
Ideally the test could check if the takeoff is done directly
instead of comparing altitudes in the first place.
-remove external init, and instead always (but only) init when dt is too large
-init the controller params correctly
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
This adds the ICM42686p as a possible alternative to the existing IMUs.
Apparently, the ICM20689 was never actually used in these boards.
Signed-off-by: Julian Oes <julian@oes.ch>
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This switches all SENS_EN_INAXXX params to 0 by default and instead uses
the i2c_launcher command.
However, if any one the SENS_EN_INAXXX param is set, it no longer tries
to auto-configure it.
Signed-off-by: Julian Oes <julian@oes.ch>
actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.
New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.
Removed old direct mode.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
consistent with the relevant aid source (GPS, baro, etc), but it can
be a little awkward with users having to fight manual parameter
changes in the right order
nxp/rt117x:Fix Pin IRQ
nxp/rt117x:Support 4 i2c busses
nxp/rt117x:Add px4io_serial support
nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4
px4_fmu-6xrt:Using imxrt_flexspi_nor_octal
px4_fmu-6xrt:Entry is start
px4_fmu-6xrt:Add Proper MTD
px4_fmu-6xrt:Set I2C Buses
px4_fmu-6xrt:Proper SPI usage
px4_fmu-6xrt:Adjust memory Map to use the 2 MB
px4_fmu-6xrt:Bring in ROMAPI
px4_fmu-6xrt:Push FLASH to 200Mhz
px4_fmu-6xrt:Use BOARD_I2C_LATEINIT
px4_fmu-6xrt:Clock Config remove unused devices
px4_fmu-6xrt:Remove EVK SDRAM IO
px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE
px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI
px4_fmu-6xrt:Manifest
px4_fmu-6xrt:Restore board_peripheral_reset
px4_fmu-6xrt:Set I2C buss Interna/Externa and startup
nxp/rt117x:Set 6 I2C busses
px4_fmu-6xrt:Correct Clock Sources and Freqency Settings
px4_fmu-6xrt:Correct ADC Settings
px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning
px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata
Current config
1KB Prefetch .rodata
3KB Prefetch .text
px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers
px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable
px4_fmu-6xrt:Octal spi boot/debug problem bypass
px4_fmu-6xrt:Add PWM test
px4_fmu-6xrt:Fix clockconfig and USB vbus sense
px4_fmu-6xrt: Use TCM
px4_fmu-6xrt: Ethernet bringup
imxrt: use unique_id register for board_identity
px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0
px4_fmu-6xrt:correct rotation icm42688p onboard imu
rt117x: Add SSARC HP RAM driver for memory dumps
px4_fmu-6xrt: Enable hardfault_log
px4_fmu-6xrt: Enable DMA pool
px4_fmu-6xrt: fix uart mapping
px4_fmu-6xrt: enable SocketCAN & DroneCAN
px4_fmu-6xrt:Command line history TAB completion
px4_fmu-6xrt:Fix pinning duplication
px4_fmu-6xrt:Support conditional PHY address based on selected PHY
px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS
px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max
px4_fmu-6xrt::Set TELEM Buffers add HW HS
px4_fmu-6xrt:Turn off DMA poll
px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!
px4_fmu-6xrt: bootloader (#22228)
* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes
px4_fmu-6xrt:Default to use LAN8742A PHY
px4_fmu-v6xrt:VID Set to Drone Code
board_reset:Enable ability to write RTC GP regs
px4_fmu-6xrt:Fix CMP0079 error
rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT
px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders
fmu-v6xrt: increase 5v down time
fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.
imxrt:board_hw_rev_ver Rework for 3.893V Ref
px4_fmu-v6xrt:Move ADC to Port3
imxrt:117x Reuse all but io_timer_hw_description and imxrt_pinirq.c
imxrt:ADC & LPADC bifurcation and restructuring
imxrt:hrt support Up to GPT6
nxp/rt117x:adc Corrected
It was failing occationally with:
14:12:43 CMake Error at CMakeLists.txt:129 (list):
14:12:43 list index: 1 out of range (-1, 0)
14:12:43
14:12:43
14:12:43 CMake Error at CMakeLists.txt:131 (list):
14:12:43 list index: 2 out of range (-1, 0)
14:12:43
14:12:43
14:12:43 CMake Error at CMakeLists.txt:132 (string):
14:12:43 string sub-command REPLACE requires at least four arguments.
14:12:43
14:12:43
14:12:43 -- PX4 version: f513c40d62 (f513c40d62..NOTFOUND)
During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.
Signed-off-by: Julian Oes <julian@oes.ch>
The UART7 TXDMA services TELEM1 with flow control. If CTS is high, the
transmitting thread will wait on a semaphore, which may block other
threads from acquiring necessary resources to make progress, for
example, preventing MAVLINK instances from transmitting.
This change in NuttX makes the TXDMA acquire the semaphore in a
non-blocking way, preventing this issue.
- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increase wind process noise default (ASPD_WIND_NSD) and gate
(ASPD_TAS_GATE) to be able to catch rapid wind increases with
the internal wind estimator of the airspeed validator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Trust the beta innovations more compated to the TAS innovations.
That should help with detecting real airspeed failures even with
a dynamic wind estimate (as long as vehicle doesn't fly straight)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Reduces flash usage by ~16KB.
- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
https://github.com/atomicobject/heatshrink
- if not in air the accel noise is doubled
- if landed don't init unless GPS velocity is non-negligible
- when inactive continue seeding with EKF gyro bias
- reset yaw estimator if GPS fusion is stopped
Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* started tiltrotor port
* added advanced plane and changed some parameters on the tiltrotor
* added advanced plane
* removed tiltrotor for clean push
* removed standard vtol old model file
* removing the standard vtol changes from this PR, since it is not part of the advanced plane
* removed advanced plane meshes as they are already found in the rc_cessna
* updating and improving airframe parameters
* updated mesh paths
Signed-off-by: frederik <frederik@auterion.com>
---------
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
There is no reason to keep an uncertainty on the origin as it is then
already contained in the local position estimate when GNSS data is fused
in the filter.
The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller.
The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by:
The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center.
The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above.
In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles.
The orientation rotates the major axis around the NED down axis.
The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle.
A feedback mavlink message is send with the executed pattern parameters.
- make it work again
- also supports Kconfig based clk source selection
- adapt to recent changes of default PWM limits
- support outputting in duty-cycle mode
- i2c addr use use hex representation
- revert back to common min/max value & move duty-cycle mode to advanced
We provide a latency measurement in the input capture handler.
However, since the timer was not enabled, none of the counter were
running therefore all counters were zero, thus latency was also zero.
Since the HRT is used to provide a timestamp, the lack of the running
timer was never noticed. After enabling the timer, latency now correctly
shows 9-10 counts.
* Fixed an issue where if the GCC_VER_STR would not contain the right NUTTX_GCC_VERSION, the grep -c command would throw a failure, silently exiting the entire ubuntu.sh setup script
This is a tool that can be used to generate advanced lift drag plugin parameters automatically using AVL. Rather than having to create .avl files yourself, pass them to AVL, read out the correct parameters and place them in the Advanced Lift Drag plugin, this tool will do all that for you and generate a complete advanced_lift_drag plugin sdf containing all necessary parameters for any vehicle. All that is required is to specify what the physical geometries of the vehicle are. The scripts are adaptable enough to support a self-selected number of control surfaces.
---------
Co-authored-by: frederik <frederik@auterion.com>
This switches from the horribly intertwined ringbuffer implementation to
the new VariableLengthRingbuffer implementation.
By ditching the previous implementation, we fix MAVLink message
forwarding, which didn't work reliably. The reason it didn't work is
that multiple mavlink messages could be added but only one of them was
sent out because the buffer didn't keep track of the messages properly
and only read the first one.
Signed-off-by: Julian Oes <julian@oes.ch>
This adds a reusable class for a FIFO ringbuffer that accepts variable
length packets. It is using the Ringbuffer class internally.
Signed-off-by: Julian Oes <julian@oes.ch>
* mission_base: reset inactivation index when user set a new mission index, or mission is reset.
* mission_base: check Climb required always on current mission item
This prevents accidental misconfiguration via I2C if there are
multiple SPI devices on the same bus. The device may hear it's i2c address
and write some register, while there is data transfer ongoing with another
device.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
WorkItemSingleShot::_sem is a signaling semaphore, disable PI for it.
Set CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due to the semaphore
having no holder, disabling PI fixes this.
The head/tail semaphores are not used as lock but rather as resource
counters and thus relate more as signaling semaphores. Disable PI for
them.
I run my code with CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due
to the semaphore having no holder, disabling PI fixes this.
This prevents the mavlink transmit loop from waiting on the module mutex
thus not stopping transmissions when the mutex is already taken.
This can happen when calling `mavlink status` from the mavlink shell,
where `Mavlink::get_status_all_instances()` takes the mutex and then
prints the status via pipes to the mavlink transmit buffer.
If that pipe cannot be emptied a deadlock happens.
Since the MavlinkReceiver thread also waits on the module mutex, both
reception and transmission of Mavlink packets are then prevented thus
disabling communications entirely.
IMUs were replaced in V3 with 2x ICM42688P. This configuration should
work with all revisions of Matek F743 Slim board, including V1, V1.5
and interim variant of V3 (ICM42688P + ICM42605).
Signed-off-by: Andrei Korigodskii <akorigod@gmail.com>
In the lightware_parser function, LW_PARSE_STATE2_GOT_DIGIT0 state can be repeated unexpectedly without proper parserbuf_index or state checking. This behavior will trigger a heap buffer overflow vulnerability by allowing to write some data. And the writable size is sizeof(unsigned).
* ekf2_derivation: use single source of state definition
The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition
* ekf2: generated state sample add const reference getter
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
The length check for unknown packets did not include PACKET_SIZE_TYPE_SIZE
and CRC_SIZE, and hence working_index could overflow CRSF_MAX_PACKET_LEN,
triggering invalid memory access further down in QueueBuffer_PeekBuffer.
Also the working_segment_size was wrong for unknown packets.
Credits for finding this go to @Pwn9uin.
This allows to inject an updated ext_autostart folder with the name
ext_autostart_new, and then PX4 takes care of renaming it to
ext_autostart during bootup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The sparse vector template requires to know which states are non-zero in
the observation jacobian. This complicates the modularity of the code
when the state vector or the derivation is changed.
The computation cost difference is almost negligible for this size.
For FW takeoffs we need to keep the course straight towards the first
waypoint, and not climb in loiter patterns first.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m.
Increase time to disarm for tailsitter test to pass.
Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.
mavsdk-test: added a vtol mission without a landing at the end (used for reversed RTL)
math_helpers: added function to compute local position from a raw mission item
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
This is required to support fixed pitch propeller helicopters that have
no collective but only cyclic pitch with two degrees of freedom and
hence only two servos.
The amount of thrust in the body z axis is then controlled using the
motor speed which makes particularly sense on coaxial helicopters
that need to control yaw with changing motor speeds already.
Events have a global, system-wide sequence number, which must be handled
atomically, (fetching and incrementing the sequence AND sending the event
to uORB must be atomic). Currently in FLAT mode, only one instance of this
sequence number exists, so it is OK to have it in px4_platform.
However, in PROTECTED mode px4_platform is instantiated both in kernel-
and user spaces, which makes two instances of this sequence number, which
causes problems in the mavlink event handling logic.
When mavlink receives and handles events, it expects that:
- The sequence numbers arrive in order (seq n is followed by n+1 etc)
- It increments by 1
- There is only one instance of the sequence number
In PROTECTED mode this is violated, as the kernel and user sequence
numbers run freely on their own. This patch fixes the issue by moving
the event backend to the kernel and by providing user access to it via
ioctl.
Even if there is some horizontal motion, a passing check should be
accepted as the terrain can be flat. However, the vehicle must not be
moving horizontally to invalidate the consistency as a change in terrain
can make the kinematic check temporarily fail.
A setpoint of type IDLE can be published by Navigator without a valid position,
and should be handled in the auto function in FW_POSCTRL_MODE_AUTO. If it wouldn't be
handled there the controller would switch to mode FW_POSCTRL_MODE_OTHER, in which case
no attitude setpoint is published and the lower controllers would be stuck with the
last published value (incl. thrust).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
but this time compared to
2fbb70d9ca
the minimum thrust is ramping to not produce a thrust jump.
The better long term solution will be to always have airmode but
with the effect limited to a magnitude of MPC_MANTHR_MIN.
high rates and (super) expo are necessary for
- acrobatic flying
- fpv
- racing
but they are not useful for:
- a typical vehicle's rate control tuning
- beginners
The defaults that I set in #8036 were put with the assumption Acro mode
is mainly used on racing drones for acrobatic manouvers but instead
users including me use it most of the time to tune any drone.
When tuning the rates are lowered and expo disabled.
My suggested strategy is to make the beginner friendly rates without
expo which are good for tuning the default and document more clearly
how this can be raised for acrobatic flying in documentation and later
on hopefully also directly in the ground station UI
on an Acro mode specific page.
* FW Positon Controller: set altitude_ref to 0 if not provided by GPS
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Positon Controller: set lat/lon reference to 0 if not provided in local_position
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If no altitude setpoint is specified then takeoff to the default
altitude above the current global position, not above Home.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
c23b72dffe [BACKPORT] sched/semaphore: Remove restriction to use nxsem_trywait from ISR
fd47cd20a2 [BACKPORT] imxrt:Serial Preserve all but W1C bit in SR
c55f0fd3ac [BACKPORT] imxrt: lpspi dma invalidate cache after exchange
198c7caecb [BACKPORT] imxrt:lpi2c fix status handeling & race
cbd2e44c10 [BACKPORT] s32k3xx: lpspi dma invalidate cache after exchange
e71618d60e [BACKPORT] s32k3xx:lpi2c fix status handeling & race
6f59cc3659 [BACKPORT] s32k1xx:lpi2c fix status handeling & race
1e316d7e32 [BACKPORT] imxrt: flexcan use hpwork for receiving frames
67c1c59865 [BACKPORT] net/can can_readahead_timestamp always free iob
8be831a4ff [BACKPORT] imxrt: fix txdeadline add ecc/fd support
00a68b7668 [BACKPORT] fs/cromfs: Fix faulty DEBUGASSERT() check
d5cf545d6e [BACKPORT] S32K3XX EMAC MCAST support Fix compile warning when ioctl is not enabled
4265c830fa [BACKPORT] imxrt:edma {s|d}last needs to be total xfer size
24b4d44896 [BACKPORT] s32k3xx:edma {s|d}last needs to be total xfer size
eed0482f64 [BACKPORT] s32k1xx:edma {s|d}last needs to be total xfer size
36aab4146a [BACKPORT] kinetis:edma {s|d}last needs to be total xfer size
a0faf31f6f [BACKPORT] arch/stm32f7: fixes for pinmap
eb8255121d [BACKPORT] stm32h7:sdmmc It is not an error if no wait was needed
062044fe41 [BACKPORT] board nucleo-h743zi:Rework board.h not use CONFIG_STM32_USE_LEGACY_PINMAP
e03f9d3917 [BACKPORT] board olimexino-stm32:Rework board.h not use CONFIG_STM32_USE_LEGACY_PINMAP
4c3a467415 [BACKPORT] stm32l5:pinmap Add suffix to all pins and add legacy pinmap
153069ed40 [BACKPORT] stm32wb:pinmap Add suffix to all pins and add legacy pinmap
d84d737f89 [BACKPORT] stm32f0l0g0:stm32f0{3|5|7|9}x_pinmap & stm32g0_pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
5fc7071ac1 [BACKPORT] stm32l4:stm32l4x{3|4|5|6|r}xx_pinmap pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
20061c2aab [BACKPORT] stm32:stm32f10{0|2|3{c|r|v|z}|5{r|v}|7v}_pinmap refactor
4d1f83d484 [BACKPORT] stm32:stm32l15xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
2dfa3f2601 [BACKPORT] stm32:stm32g4xx{c|k|r|m|v|q} pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
d206327809 [BACKPORT] stm32:stm32f3{0|3|7}xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
95e66ab508 [BACKPORT] stm32:stm32f20xxx pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
d2fd9178ad [BACKPORT] stm32:f4/f412 pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
a9df45166d [BACKPORT] stm32f7:pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
07dd2b424e [BACKPORT] stm32h7:pinmap Remove GPIO_SPEED_xxx and add legacy pinmap
1e3065344f [BACKPORT] stm32u5:stm32u585xx_pinmap Fix typo
0a05365a90 [BACKPORT] stm32wl5:pinmap Fix typo
e3834138dc [BACKPORT] tools:Add STM32 Pin migration tool
df851a8768 [BACKPORT] stm32h7/rcc: make VOS0 configurable from board.h also for stm32h7x7xx
d75dfcf1e9 [BACKPORT] stm32h7/rcc: make VOS0 configurable from board.h
963f35f4fc [BACKPORT] {stm32,stm32f7,stm32h7,stm32l4,efm32}/otg: rasie an assertion if IN request is not possible to transfer
de2fcc6668 [BACKPORT] {stm32f7,stm32h7,stm32l4}/sdmmc: callback support requires HPWORK
6929144fc2 [BACKPORT] stm32h7/otgdev: FS transceiver must be enabled if OTGFS enabled
a2078afaea [BACKPORT] stm32h7/otg: add support for external ULPI
26e1246c86 [BACKPORT] stm32h7/rcc: OTGHS ULPI works only in VOS0
cd6daa185e [BACKPORT] stm32h7: update ULPI pins
c73c261ae3 [BACKPORT] arch/boards: fix stm32f411-mininum:nsh compilation failure after enabling IRQMONITOR
8078f134ef [BACKPORT] arch/stm32/stm32.h: do not include stm32_usbdev.h if not supported
60e884fa92 [BACKPORT] {stm32,stm32l4,stm32f0l0g0}/otg: move STM32_NENDPOINTS definitions to header files
dda297cb78 [BACKPORT] arch/arm/src/stm32/hardware: Fix register define
362b976b0e [BACKPORT] arch/arm/src/stm32/hardware: Add stm32g4 rcc apb1 timer enable compatibility
434fd71f2c [BACKPORT] {stm32/stm32l4/stm32f7/stm32h7/efm32}/otgdev: remove invalid use of the priv field for EP
2476d24e8c [BACKPORT] {stm32f7,stm32h7}/otg: fix compilation for USBDEV when USB_DEBUG=y
eb43c582ea [BACKPORT] drivers/mtd/ramtron: change nsectors size to uint32
20f61ff0d5 [BACKPORT] fs/littlefs: add full support for LittleFS block device cfg in Kconfig
60471fbf8c [BACKPORT] drivers/mtd: add Kconfig options for RAMTRON emulated page & sector size
- for FW the primary range finder usage is estimating the distance to
the ground (terrain estimate) to guide the landing approach and initiate flare
- increase EKF2_RNG_QLTY_T default 1->3 seconds
- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
From looking at the history the BMM150 rotation was initially 0. Then,
this was changed to 6 when the intent was to only change it for Skynode.
A bit later, the rotation was changed back to 0, but only for Skynode.
This tells me that rotation 0 was correct for all 6X including Skynode
all along.
Signed-off-by: Julian Oes <julian@oes.ch>
- ekf2 heading first initializes to 0 degrees, then immediately resets to mag heading once a few samples are accumulated
- the yaw standard deviation check could be adjusted to exclude this brief (<1s) initial period
- on NuttX if the SD card was just cleared (quick format) it's possible for the newly created uninitialized dataman file to still have the previous compatibility key, which causes the initialization to be skipped
* added a new driver ASP5033 for measuring the differential pressure and airspeed
---------
Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>
When the yaw estimate is converging, the controller makes the drone yaw
in order to follow the current setpoint. This is unintuitive for the
pilot and it is preferable if the drone continues to fly towards the
same physical direction.
This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
This updates the gps/devices submodule which includes a fix that
requests the Unicore HEADINGA message in case the message is not enabled
by default.
Signed-off-by: Julian Oes <julian@oes.ch>
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.
Signed-off-by: Julian Oes <julian@oes.ch>
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.
The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.
Signed-off-by: Julian Oes <julian@oes.ch>
Fixes the clang error:
/__w/PX4-Autopilot/PX4-Autopilot/src/drivers/drv_hrt.h:297:35: fatal error: identifier '_s' preceded by whitespace in a literal operator declaration is deprecated [-Wdeprecated-literal-operator]
297 | constexpr hrt_abstime operator "" _s(unsigned long long seconds)
- Enable arbitrary euler angle for Mag rotation
- new CUSTOM rotation enum out of the normal enum range
- mag_rot: automatically change to custom if euler rot is set
- sensor_calibration: Magnetometer save custom rotation parameters
- mag_cal: cross mention rotation parameters
- This allows the user to see the RPY options when searching for the rotation parameter
---------
Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
In the mavlink_receiver code, after a while it will try to resend some
parameter update through the MAVLink instance. But for Iridium links
those are not a good idea. So this adds a condition that prevent the
sending if the MAVLink instance is in Iridium mode.
Related to issue #21496
sem_wait() can be interrupted if the task receives a signal, however
the blockinglist implementation depends on blocking until the semaphore
can be obtained.
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
- simplify vehicle_status.arming_state down to just armed and disarmed
- ARMING_STATE_INIT doesn't matter
- ARMING_STATE_STANDBY is effectively pre_flight_checks_pass
- ARMING_STATE_STANDBY_ERROR not needed
- ARMING_STATE_SHUTDOWN effectively not used (all the poweroff/shutdown calls loop forever in place)
- ARMING_STATE_IN_AIR_RESTORE doesn't exist anymore
- collapse ArmStateMachine into commander
- all requests already go through Commander::arm() and Commander::dismarm()
- other minor changes
- VEHICLE_CMD_DO_FLIGHTTERMINATION undocumented (unused?) test command (param1 > 1.5f) removed
- switching to NAVIGATION_STATE_TERMINATION triggers parachute command centrally (only if armed)
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
Some system are able to dead-reckon for a while after losing GPS or
other sources providing positional feedback. If the estimated position
error grows above the failsafe threshold, the system enters a failsafe
mode. As the position error estimate is growing linerly over time, and
it is recommended to take action before entering the failsafe, we here
warn the user about the imminent failsafe and propose to take manual
control.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* [not-working] add a gz-omnicopter model
* Fix axis directions on omnicopter model
The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.
* include model from gz-fuel & remove mesh files
* Fix omnicopter model using fuel
---------
Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
There is no reason to contrsain the position uncertainty, estpecially
when flying with velocitiy aiding only.
Note that all the variances are already contrained to sane values at the
end of the covariance prediction
- set vision attitude error filter uninitialized if vision data stops
- ev error filter is only compiled when ev config is selected
Co-authored-by: bresch <brescianimathieu@gmail.com>
A version update is needed since the dataman is showing errors if data doesn't exist or if it is wrongly stored. This will force default data to be initialized.
There is some actual changes because the earth mag field states are now
reset using the WMM when available. In the replay log, the measured mag
field does not match the WMM and this is why there is a large diff. It
is however more correct now than before.
because sprintf is deprecated on MacOS
and CI fails with warning -> error:
'sprintf' is deprecated: This function is
provided for compatibility reasons only.
Due to security concerns inherent in the
design of sprintf(3), it is highly
recommended that you use snprintf(3) instead.
I updated all versions to the newest one that's used anywhere.
Then at least the straing can be found with full text search.
It's another step towards understanding and unifying the CI environment.
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.
I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
also for the other linux target builds. It's a follow up to
e5503480e3
I wasn't aware that there are multiple different
container versions used for almost the same build.
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.
Testing is required whether this actually works on Pixhawk 6X though.
Signed-off-by: Julian Oes <julian@oes.ch>
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Having newline between I think didn't apply the PR stale days setting of
30 properly (it was using 45)
And it seemd that unless I set the days-before-close to -1
intentionally, it would still close the Issue/PRs, as the default value
is 7 already.
Also updated version of the stale action to v8
* Remove old stale bot yaml file
* Remove slack svg file (unused)
* Stale action: Only apply stale label, and no other actions
Respecting the opinion on
https://github.com/PX4/PX4-Autopilot/commit/fa9ac6ecf651232f3105ca124a2d2c54ab8620d0,
it seems reasonable to disable commenting feature, and just keep the
action only applying the `stale` label. This will reduce the noise /
email spams / ping pong fight with the stale bot (Action)
- Remove unnecessary text rendering, which made clicking log links
harder
- Re adjust markdown elements to make it easier to read / intuitive when
creating an issue
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
const char *data = "www\r\n";
Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0'
type of data: char const*
type of &data: char const**
So when we call
write(_fd, &data, strlen(data));
then strlen(data) == 5
and we send the 4 byte memory address of data
+ some additional random byte.
Correct is
write(_fd, data, strlen(data));
where char const* gets casted to const void * and we pass
the pointer to the content of data.
The fundamental problem here is write() not being typesafe.
Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.
Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
Before:
When the mixed throttle for the motor was exactly zero the ramp went
from the disarmed PWM value to the minimum PWM value.
When the throttle was even just slightly different from zero the ramp
made a jump up to the commanded throttle scaled between
disarmed PWM and maximum PWM, then ramped between
disarmed PWM and minimum PWM and at the end jumped up again to
the commanded throttle scaled between minimum PWM and maximum PWM.
After:
The ramp goes from disarmed PWM value to the the
commanded throttle scaled between minimum PWM and maximum PWM.
If the commanded throttle changes during the ramp then the scale and
hence also end value of the ramp changes.
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
## Please note that feature requests are not 'fire and forget'
It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
- type:textarea
attributes:
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description:A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
validations:
required:true
- type:textarea
attributes:
label:Describe your preferred solution
description:A clear and concise description of what you want to happen.
validations:
required:true
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attributes:
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description:A clear and concise description of any alternative solutions or features you've considered.
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description:Add any other context or screenshots for the feature request here.
stale-issue-message:'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
stale-pr-message:'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
close-issue-message:'This issue was closed because it has been stalled for 5 days with no activity.'
close-pr-message:'This PR was closed because it has been stalled for 10 days with no activity.'
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