- parameter backend is now running in a wq and accessible over pub/sub
- parameters library can call into backend directly (with locking), but operations will gradually start moving to pub/sub
- majority of parameters migrated as is, only small changes to parameter autosave and parameter notification that are now performed from the WQ thread
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>
- msg constant names now comply with ROS conventions:
uppercase alphanumeric characters with underscores for separating words
partially fix#19917
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
As per the discussion in #15331, fixed issue where stm32h7 chips
use hardware ECC bits in program memory that disallow overwriting
32-byte flash line that has already been written. As such,
this change allows for a variant implementation of the flashfs system
that uses more space in the flash entry header in order to
allow an entire line to be reserved for erasing an entry.
Signed-off-by: Taylor Nelms <tnelms@roboticresearch.com>
rtl state was getting reset on inactive, which meant that the state which triggered resuming e.g. mission landing would be overwritten, and the navigator mode would switch back and forth between rtl and mission. this commit:
1. moves the reset of rtl state to the on activation function (removing it from the on inactive function)
2. functionalizes the rtl state input to the rtl time estimator so that rtl time can still be calculated from state=none while inactive
This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
- this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
FW_LND_USETER defaulted to 1 and FW_LND_ABORT terrain based bits all enabled. why? because using a distance sensor is critical to detecting when to flare, and we want to force the user to actively disable these safety settings if they so choose, so that they understand the implications.
- new param, FW_LND_TER_REL
- fixing the glide slope helps keep the landing glide behavior steady (avoiding bumps in the altitude setpoint from e.g. trees)
- flare is still triggered via the distance sensor, if enabled by FW_LND_USETERR
when the vehicle did not track the slope well (e.g. at an offset above the track) and the altitude setpoint flattening on intersection with terrain, the throttle would spool up to smoothly intersect the newly flattened altitude setpoint, this could happen before the flare altitude was reached, which is bad. now the steady state glide behavior will be maintained, and flare can trigger at the appropriate time
- the target_sink_rate param could possibly constrain the maximum commanded sink rate to something less than that of the landing glide slope, which would make it impossible to track. this commit allows opening up the desired max sink rate up to the performance limits of the aircraft, if necessary, for the landing case
- landing slope/curve library removed
- flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway)
- flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt
- flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind)
- flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands
- TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides)
- throttle is killed on flare
- flare is the singular point of no return during landing
- lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach"
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination)
- fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
- clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
- when at rest continue fusing last static heading with very low variance even if other heading sources are active
We need to ensure the Dronecode logo is prominently displayed
and linked to the PX4 brand for trademark protection of PX4 and Dronecode.
If you have any questions about this, please feel free to reach out directly to me.
- post takeoff, the aircraft follows the infinite line sourced from the launch point in the direction of the takeoff waypoint
- takeoff waypoint altitude is used as a clearance altitude, set such that once above, the aircraft has cleared all ground occlusions and may proceed with the mission
- runway takeoff state machine simplified to throttle ramp, clamped to runway, climbout, and fly
- throttle ramp must complete before switching to next state to avoid a jump in throttle setpoint just after takeoff if the takeoff airspeed is reached before the ramp is complete
- roll constraints near ground post takeoff removed from runway takeoff class (handled externally now)
- minimum airspeed in TECS is reduced to takeoff speed (if necessary) to lower the underspeed detection bound
- lateral-directional guidance uses a different period parameter during ground roll
- apply constraint only for takeoff and landing modes
- add two params, wing span and wing height, to calculate a reasonable height at which roll limits can be opened
- takeoff situational knowledge removed from all other modes except manual (or actual takeoff mode)
- manual takeoff is marked complete if at a controllable airspeed
- minimum pitch bounds TECS until manual takeoff complete
- remove individual roll constraints during manual takeoff (ground proximity constraints coming in subsequent commit)
- underspeed condition only determined by true airspeed undershoot
- change binary underspeed condition to a continuous percent undersped
- ramp-in max throttle, pitch speed weight, and TAS setpoint reduction during underspeed to avoid jumpy commands at the true airspeed error boundary
- let true airspeed filter reach zero airspeed
- create integral and trajectory generator reset methods
- always run TECS unless in rotary-wing mode (or in transition)
- constantly reset TECS integrals and trajectory generators when landed
- simplify takeoff reset method
- removes _last_manual variable in favor of _skipping_takeoff_detection, which is handled in the control mode setter
- takeoff detection (both launch and runway) is skipped if entering takeoff mode from any other mode while having already been in the air
- added method to runway takeoff class for force setting the fly state when we want to skip the takeoff detection
- array length of data was increased without changing the data type of
the variable holding the length
Signed-off-by: RomanBapst <bapstroman@gmail.com>
As they are always moving horizontally, the check doesn't make sense
for fixed-wings.
Also don't run the check while on ground to prevent getting a failed
check during pre-takeoff manipulation.
- trim throttle is handled entirely by the position controller
- navigator should use speed setpoints
- added flag gliding_enabled in position setpoint to stills support gliding
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- allow compensation based on vehicle weight (parameterized)
- use density for calculating trim throttle compensation instead of pressure
- removed parameter FW_THR_ALT_SCL
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Make Power Off tune not interruptable
This solves the case of Low Battery warning tune overriding the power
off tune, as now the Power off tune is not interruptable by any other
tune unless override flag is specified
commander_helper: resolve "redundant boolean literal in ternary expression result"
- Existing code was hard to read and quite ambiguous
- Also it allowed constantly re-sending the tune_control request for a
fixed duration tunes like "TUNE_ID_BATTERY_WARNING_SLOW", while not
respecting the tune duration
When wind is already estimated, we don't reset the states using airspeed
data, so it could be that the fusion fails if the airspeed isn't
consistent with the filter (test ratio > 1). In this case, don't start
the fusion.
When wind isn't already estimated, the wind states are reset using
airspeed so the fusion can start regardless of the current test ratio.
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
split the fusion process into:
1. updateAirspeed: computes innov, innov_var, obs_var, ...
2. fuseAirspeed: uses data computed in 1. to generate K, H and fuse the
observation
from 300 ms to 60 seconds, to give enough time for the user to configure
the vehicle in the mean time.
This is needed especially when the battery cell count setting is wrong
(when it should be 3, but set to 4 for example), since then whenever you
boot the vehicle, it will shutdown after 300 ms, which leaves the user
puzzled as to exactly what's happening. And it also prevented the user
from changing the Parameter since it's shutting down so quickly.
60 second window is intended to be a reasonable time that will allow the
user to figure out what's going on (via checking the battery level on
QGC, etc) but also not deep discharge the battery to a dangerous level.
Fixes the error:
Aborting due to missing @type tag in file: 'build/px4_fmu-v5_test/etc/init.d/airframes/11001_hexa_cox'
This can happen due to a change to e.g. board_serial_ports, which changes
the CLI command and triggers a re-execution of the airframe processing.
- this allows landing gear to retract automatically when doing a takeoff
and the vehicle is considered high enough
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- 4096 of 3 hex digits each for rev and ver is enough.
#defines used in SPI versions do not be long format, use use the macro
- Board provides a prefix and the formatting is sized and built in
- No need for funky board_get_base_eeprom_mtd_manifest interface
Original mft is used where the abstraction is done with the MFT interface
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
If the capture GPIO is exposed to a signal with high frequency changes, a lot of
interrupts are scheduled and the handling of these call can worst-case
starve flight critical processes leading to a loss of control. Since camera capture
is not flight critical, we now give up the capture
functionality and stop the interrupts to prevent the starvation of other processes.
If the PPS GPIO is exposed to a signal with high frequency changes, a lot of
interrupts are scheduled and the handling of these calls can worst-case
starve flight critical processes leading to a loss of
control. Since PPS is not flight critical, we now give up the PPS
functionality and stop the interrupts to prevent the starvation of other processes.
Remove the entire external yaw handler, dynamic memory allocation,
pointer passing logic. Directly instanciate the weather vane instance
in the flight tasks that support it.
- remove internal accumulation and publish every valid raw sample synchronized with sensor
- store timestamp_sample from motion interrupt
- improve timing requirements from datasheet (minimum delays after register read/write)
- remove internal accumulation and publish every valid raw sample synchronized with sensor
- store timestamp_sample from motion interrupt
- improve timing requirements from datasheet (minimum delays after register read/write)
- all sources of optical flow publish sensor_optical_flow
- sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow
Co-authored-by: alexklimaj <alex@arkelectron.com>
Follow me : tidied second order filter implementation
Added velocity filtered info to uORB follow target status message, and rebase to potaito/new-follow-me-task
FollowMe : Rebasing and missing definition fixes on target position second order filter
Follow Me : Remove Alpha filter delay compensation code, since second order filter is used for pose filtering now
Followme : Remove unused target pose estimation update function
Follow Target : Added Target orientation estimation logic
Follow Target : Replaced offset vector based setpoint to rate controlled orbital angle control
Follow Target : Bug fixes and first working version of rate based control logic, still buggy
Follow Target : Added target orientation, follow angle, orbit angle value into follow_target_status uORB message for debugging
Follow Target : Fix orbit angle step calculation typo bug
Follow Target : Few more fixes
Follow Target : Few fixes and follow angle value logging bug fix
Follow Target : Added lowpass alpha filter for yaw setpoint filtering
Follow Target : Remove unused filter delay compensation param
Follow Target : Add Yaw setpoint filter initialization logic and bufix for when unwrap had an input of NAN angle value
Follow Target : Add Yaw setpoint filtering enabler parameter
Follow Target : Change Target Velocity Deadzone to 1.0 m/s, to accomodate walking speed of 1.5 m/s
Follow Target : Add Orbit Tangential Velocity calculation for velocity setpoint and logging uORB topics
Follow target : Fix indentation in yaw setpoint filtering logic
Follow Target : Fix Follow Target Estimator timeout logic bug that was making the 2nd order pose filter reset to raw value every loop
Follow Target : Remove debug printf statement for target pose filter reset check
Follow Target : Add pose filter natural frequency parameter for filter testing
Follow Target : Make target following side param selectable and add target pose filter natural frequency param description
Follow Target : Add Terrain following altitude mode and make 2D altitude mode keep altitude relative to the home position, instead of raw local position origin
Follow Target : Log follow target estimator & status at full rate for filter characteristics test
Follow Target : Implementing RC control user input for Follow Target control
Follow Target : edit to conform to updated unwrap_pi function
Follow Target : Make follow angle, distance and height RC command input configurable
Follow Target : Make Follow Target not interruptable by moving joystick in Commander
Follow Target : reconfigure yaw, pitch and roll for better user experience in RC adjusting configurations, and add angular rate limit taking target distance into account
Follow Target : Change RC channels used for adjustments and re-order header file for clarity
Follow Target : Fix Parameters custom parent macro, since using DEFINE_PARAMETERS alone misses the parameter updates of the parent class, FlightTask
Follow Target : Fix Orbit Tangential speed actually being angular rate bug, which was causing a phenomenon of drnoe getting 'dragged' towards the target velocity direction
Follow Target : Final tidying and refactoring for master merge - step 1
Add more comments on header file
Follow Target : tidy, remove unnecessary debug uORB elements from follow_target_status message
Follow Target : Turn off Yaw filtering by default
Follow Target : Tidy maximum orbital velocity calculation
Follow Target : add yaw setpoint filter time constant parameter for testing and fix NAV_FT_HT title
Follow Target : Add RC adjustment window logic to prevent drone not catching up the change of follow target parameters
Follow Target : fixes
Follow Target: PR tidy few edits remove, and update comments
Follow Target : apply comments and reviews
Follow Target : Edit according to review comments part 2
Follow Target : Split RC adjustment code and other refactors
- Splitted the RC adjustment into follow angle, height and distance
- Added Parameter change detection to reset the follow properties
- Added comments and removed yaw setpoint filter enabler logic
Follow Target : Modify orbit angle error bufferzone bug that was causing excessive velocity setpoints when setpoint catched up with raw orbit setpoint
Follow Target : Remove buffer zone velocity ramp down logic and add acceleration and rate limited Trajectory generation library for orbit angle and velocity setpoint
Follow Target : Remove internally tracked data from local scope function's parameters to simplify code
Follow Target : Fix to track unwrapped orbit angle, with no wrapping
Follow Target : Apply user adjustment deadzone to reduce sensitivity
Follow Target : Apply suggestions from PR review round 2 by @potaito
Revert submodule update changes, fall back to potaito/new-followme-task
Follow Target : [Debug] Expose max vel and acceleration settings as parameters, instead of using Multicopter Position Controller
's settings
Follow Target : Use matrix::isEqualF() function to compare floats
Follow Target : Add Acceleration feedback enabler parameter and Velocity ramp in initial commit for overshoot phenomenon improvement
Follow Target : Implement Velocity feed forward limit and debug logging values
Follow Target : Apply Velocity Ramp-in for Acceleration as well & Apply it to total velocity setpoint and not just orbit tangential velocity component
Follow Target : Don't set Acceleration setpoint if not commanded
Follow Target : Use Jerk limited orbit angle control. Add orbit angle tracking related uORB values"
Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle
Revert "Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle"
This reverts commit a3f48ac7652adb70baf3a2fed3ea34d77cbd6a70.
Follow Target : Take Unfiltered target velocity into acount for target course calculation to fix overshoot orbit angle 180 deg flip problem
Follow Target : Remove Yaw Filter since it doesn't make a big difference in yaw jitterness
Follow Target : Remove velocity ramp in control & remove debug values from follow_target_status.msg
Follow Target : Tidy Follow Target Status message logging code
Follow Target : Remove jerk and acceleration settings from Follow Target orbit trajectory generation
Follow Target : Change PublicationMulti into Publication, since topics published are single instances
Follow Target : Edit comments to reflect changes in the final revision of Follow Target
Follow Target : Apply incorrectly merged conflicts during rebase & update Sticks function usage for getThrottled()
Follow Target : Apply final review comments before merge into Alessandro's PR
Apply further changes from the PR review, like units
Use RC Sticks' Expo() function for user adjustments to decrease sensitivity around the center (0 value)
Update Function styles to lowerCamelCase
And make functions const & return the params, rather than modifying them
internally via pointer / reference
Specify kFollowPerspective enum as uint8_t, so that it can't be set to negative value when converted from the parameter 'FLW_TGT_FP'
Fix bug in updateParams() to reset internally tracked params if they actually changed.
Remove unnecessary comments
Fix format of the Follow Target code
Fix Follow Perspective Param metadata
follow-me: use new trajectory_setpoint msg
Convert FollowPerspective enum into a Follow Angle float value
1. Increases flexibility in user's side, to set any arbitrary follow
angle [deg]
2. Removes the need to have a dedicated Enum, which can be a hassle to
make it match MAVSDK's side
3. A step in the direction of adding a proper Follow Mode (Perspective)
mode support, where we can support kite mode (drone behaves as if it is
hovering & getting dragged by the target with a leash) or a constant
orbit angle mode (Drone always on the East / North / etc. side, for
cinematic shots)
Continue fixing Follow Target MAVSDK code to match MAVSDK changes
- Support Follow Angle configuration instead of Follow Direction
- Change follow position tolerance logic to use the follow angle
*Still work in progress!
Update Follow Me MAVSDK Test Code to match MAVSDK v2 spec
- Add RC Adjustment Test case
- Change follow direction logic to follow angle based logic completely
- Cleanup on variable names and comment on code
follow-me: disable SITL test
Need to update MAVSDK with the following PR:
https://github.com/mavlink/MAVSDK/pull/1770
SITL is failing now because the follow-me
perspectives are no longer defined the
same way in MAVSDK and in the flight task.
update copyright year
follow-me: mark uORB topics optional
Apply review comments
more copyright years
follow-me sitl test: simpler "state machine"
flight_mode_manager: exclude AutoFollowTarget and Orbit on flash contrained boards
Remove unnecessary follow_target_status message properties
- As it eats up FLASH and consumes uLog bandwidth
rename follow_me_status to follow_target_status
enable follow_target_estimator on skynode
implement the responsiveness parameter:
The responsiveness parameter should behave similarly to the previous
follow-me implementation in navigator. The difference here is that
there are now two separate gains for position and velocity fusion.
The previous implemenation in navigator had no velocity fusion.
Allow follow-me to be flown without RC
SITL tests for follow-me flight task
This includes:
- Testing the setting for the follow-me angle
- Testing that streaming position only or position
and velocity measurements both work
- Testing that RC override works
Most of these tests are done with a simulated model
of a point object that moves on a straight line. So
nothing too spectacular. But it makes the test checks
much easier.
Since the estimator for the target actually checks new
measurements and compares them to old ones, I also added
random gausian noise to the measurements with a fixed seed
for deterministic randomness. So repeated runs produce
exactly the same results over and over.
Half of the angles are still missing in MAVSDK. Need to create
an upstream PR to add center left/right and rear left/right options.
These and the corresponding SITL tests need to be implemented
later.
sitl: Increase position tolerance during follow-me
Astro seems to barely exceed the current tolerance (4.3 !< 4.0)
causing CI to fail. The point of the CI test is not to check
the accuracy of the flight behaviour, but only the fact that the
drone is doing the expected thing. So the exact value of this
tolerance is not really important.
follow-me: gimbal control in follow-me
follow-me: create sub-routines in flight task class
follow-me: use ground-dist for emergency ascent
dist_bottom is only defined when a ground facing distance sensor exist.
It's therefore better to use dist_ground instead, which has the distance
to the home altitude if no distance sensor is available.
As a consequence it will only be possible to use follow-me in a valley
when the drone has a distance sensor.
follow-me: point gimbal to the ground in 2D mode
follow-me: another fuzzy msg handling for the estimator
follow-me: bugfix in acceleration saturation limit
follow-me: parameter for filter delay compensation
mantis: dont use flow for terrain estimation
follow-me: default responsiveness 0.5 -> 0.1
0.5 is way too jerky in real and simulated tests.
flight_task: clarify comments for bottom distance
follow-me: minor comment improvement
follow-me: [debug] log emergency_ascent
follow-me: [debug] log gimbal pitch
follow-me: [debug] status values for follow-me estimator
follow-me: setting for gimbal tracking mode
follow-me: release gimbal control at destruction
mavsdk: cosmetics 💄
Symmetric buffers allow a much more reliable QGC Wifi telemetry connection especially when (virtual) joysticks are used. (this board does not provide RX DMA on UART 4 as its timer does DSHOT).
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of EKF2 is 100Hz, the
same tuning is obtained by dividing the std_dev legacy parameter by 10:
nsd = sqrt(std_dev^2 / 100Hz)
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of the wind estimator is 1Hz, the
same tuning is obtained with the same values as before.
1. Rename *_header_s structs to *_s, since the _header postfix is not
helpful
2. Rename the "key" string variables in the message structs to
"key_value_str" as the string actually contains not just the key but the
key and value pair information
3. Add comments on other uLog messages to clarify use (need more
improvement / can be even more simplified)
* sih: Move sih out of work queue
This reverts commit bb7dd0cf00.
* sih-sim: Enable sih in sitl, together with lockstep
* sih-sim: new files for sih: quadx and airplane
* sih: Added tailsitter for sih-sitl simulation
* sitl_target: Added seperate target loop for sih
* jmavsim_run: Allow jmavsim to run in UDP mode
* lockstep: Post semaphore on last lockstep component removed
* sih-sim: Added display for effectively achieved speed
* sih: increase stack size
* sih-sim: Improved sleep time computation, fixes bug of running too fast
* sitl_target: place omnicopter in alphabethic order
Co-authored-by: romain-chiap <romain.chiap@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
- documentation of units, params, returns, and descriptions for variables and methods
- rename ambiguous or erroneous state variables
- remove unused or unecessary input arguments to functions
- remove ugly header white space
The safetyButtonHandler() reports that the safety statatus
changed on the first loop iteration when safety is disabled which makes
sense to inform the system that safety is off but the tune for the user
should not be played because it interrupts the startup tune.
They cause problems with building px4_msgs in ROS2 Humble Hawksbill and removing them fixes the issue.
Co-authored-by: Agata Barcis <agata.barcis@tii.ae>
This corrects the board definition to use the proper polarity
for the brick power valid signal, thus allowing the board to
detect the battery and monitor it properly.
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
- on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO
sample is only 12 bytes so this is still more than large enough for the
worst case transfer
- free memory is getting tight on these older boards (depending on
configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just
dropping dead weight
H7 Only supports 2 not 3 CAN interfaces.
CanInitHelper passes in in the run time configuration of
the number of interfaces. The code was ignoring these!
This type (23) doesn't specify a motor number, so it can't be properly handled.
There are duo (19) and quad (20) tailsitter types that still work in simulation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Based on feedback that very often the battery is used down too low.
I observed this happens consistently when the cell voltage is properly
load compensated. The default load compensation before #19429 was very
inaccurate and resulted in unpredictable estimate.
After that if there is a usable current measurement and the battery is
within expected tolerances of the default internal resistance the
compensation is pretty good and 3.5V is too low for an empty compensated
cell voltage. That was seen in various logs where the compensated
cell voltage was already dropping fast after 3.6V.
In case the voltage is not load compensated the vehicle estimates the
state of charge a bit too low which is safer than to high
especially for a default configuration.
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
Without this, uavcan creates MixingOutput classes which then create
empty actuator_outputs publications. This then prevents the motor
output in HITL to be forwarded to the simulator via mavlink.
The baro observation noise parameter is often over-estimated in order as
a measure to mitigate temporary offsets in the readings due to wind
gusts or poor pressure compensation tuning. The side effect is that the
innovation sequence monitoring based on normalized innovation struggles
to detect an offset in the state because the innovation isn't
statistically significant.
To counter this issue, a simpler check is added to trigger the process
noise boost when the innovation has the same sign for a long period of
time.
1. Change the paragraph headings to proper Markdown headings (easier to
link / structure the Markdown)
2. Move PULL_REQUEST_TEMPLATE into .github folder
3. Change description in Issue template and remove outdated DevGuide
Repository information
4. Add a bug emoji to bug report isue template
5. Support automatically adding labels 'bug-report' and
'feature-request' to easily sort / filter appropriate issues in Github
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
I got multiple times the feedback now that a consistent delay
is helpful and makes sense but the default delay
is too long
for low battery action where you're trying to come back in time
and possibly the emergency reaction kicks in while the critical action
is executing which leads to a longer accumulated delay.
To return Exponential Values, which is helpful for reducing the
sensitivity of the stick around the centered value (0), since it's
exponential curve.
Useful for user adjustment implementations, where accidentally touching the stick
wouldn't have so much effect when using the Exponential value, compared
to using the raw position value.
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
- limit to handling only 1 motor failure
- Log which motor failures are handled
- Remove motor from effectiveness matrix without
recomputing the scale / normalization
- this allows jumping straight to a non-SBUS RC protocol
- increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
- only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
Normally _should_run for mission is only ever true if _should_run for the
normal log is. There are exceptions though:
- the log buffer fails to allocate
- there was a write failure (e.g. due to SD card removal)
In that situation, the writer would not wait anymore but busy-loop.
This replaces the propeller_torque_disabled flag to disable yaw by differential thrust
for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set
effectiveness of an acutator in the yaw axis to 0 in case it's tilted.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
Calculating K(HP) takes less operations than (KH)P because K and H are
vectors.
Without considering the sparsity optimization:
- KH (24*24 operations) is then a 24x24 matrix an it takes
24^3 operations to multiply it with P. Total: 14400 op
- HP (24*(24+24-1) operations) is a row vector
and it takes 24 operations to left-multiply it by K. Total:1152 op
This is a combination of the originally introduced delay:
06c10f61c1
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429576ce68ac3fee9d2db19112f4604b9
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
There was a time window where if a task with higher priority than the main
logger thread would busy-loop, it would block both logging threads and the
watchdog would not trigger if the writer was in idle state.
This can happen for fast SD card writes.
when the vertical pos or vel innov ratio is above the threshold, the
other one needs to be significant too and not just positive to trigger
the failure
- on some H7 boards (cuav x7pro tested) there's an occasional hard fault when starting the mavlink shell that is no longer reproducible with the slightly expanded locking
- this is likely just changing the timing (holding the sched lock for longer), but this should be harmless for now until we can identify the root cause
Weather vane should only set a yawrate setpoint, but no yaw setpoint.
Setting it to NAN when WV is active makes sure that whatever _yaw_setpoint
is set previously (e.g. through Waypoint) is not used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- set local home using global pos and global home
- set local home using GNSS pos and global home
- set global home using global ref of local frame and local home
This is to make clear that the relevant part of the home position
message for navigator is the global one. Local home position isn't
required as everything is done in global coordinates.
The specific home_alt_valid is used when lat/lon are not used
- always try to set local or global home position when possible
- set global home with GNSS position if global pos from EKF isn't
available
- reset home when significantly moved from home before takeoff (checking
lpos or gpos or GNSS)
- reset home on takeoff transition
- reset home on mavlink arm command
- remove "home required accuracy" parameters, rely on validity flags
- fixes the deadlock in px4io ioctl mixer reset
- px4io Run() locks (CDev semaphore)
- mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
- MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
- the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
- most px4_io-v2 boards have a blue LED that breathes for status
- the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
- the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
- untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
To pass from invalid to valid:
- time hysteresis
- some vertical velocity
- test ratio < 1
- low-passed signed test ratio < 1
To pass from valid to invalid:
- low-passed signed test ratio >= 1
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
For many VTOLs/fixed-wing drones a 50m loiter radius is too tight, and
going to 80m is a better and safer default.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
- In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
- by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
PX4 supports int32 parameter types by interpreting the 32 bits in
the float field as an int32 field. To signal this behaviour, it should
set the bit which is described as PARAM_ENCODE_BYTEWISE.
PX4 had always handled parameters this way but never actually sent the
capability (which back then was called PARAM_UNION), however, it should
have. This came up recently in the MAVLink devcall when these flags were
discussed. The takeaway was to remove the flags to make it clearer and
to make sure the projects (like PX4) send them out correctly.
mathlib: add second order reference model filter with optional rate feedback (#19246)
Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes unspecified behaviour due to evaluation order of args.
It's up to the compiler whether next_number() or next_dots() is executed
first which means that the behaviour is not properly specified.
- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
- existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
- cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
It accesses kernel internal structures directly; this needs to be
worked out with some proper userspace-kernel interface
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This is needed for DMA capable memory for fat also in the user side;
the file system doesn't seem to work reliably without.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
For protected/kernel builds the cxx static initializations
needs to be done also in kernel side, since px4 creates
c++ objects in kernel
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Put all functions which are commont to flat build and protected kernel and
userspace to an own source file
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- the estimated mag bias was requiring > 30 seconds of continuous 3d
mag fusion to be reported stable (and saved back to mag cal), this
restores the original intent requiring 30 seconds of accumulated valid
3d mag fusion
Need to log both, because on some systems the
information will come in directly as a
landing_target_pose message, and on others
it's coming in as irlock_report and then filtered
in PX4 to produce the landing_target_pose message.
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
- deleting to save a little bit of flash (and storing the temperature wasn't useful)
Otherwise the setpoint from weather vane is constantly overwritten by it,
even if the yaw stick is not moved.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This adds a nuttx userspace interface for hrt driver, communicating with
the actual px4 hrt driver via BOARDCTL IOCTLs
This is be used when running PX4 in NuttX protected or kernel builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Before, adding the pusher to the same matrix as the upwards motors affected
the scaling for the upwards motors, resulting in values not equal to -1
anymore.
Move some logic from Subscriber into uORBManager. This reduces calls from the
modules to the uORB manager, improving performance in protected build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this is a more conservative default if a vehicle isn't set (no land detector running)
- handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
- ekf2 no longer depend on arming or standby status
- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
- Also use the delayed current data instead of newest that might not be
available (gps buffer is sometimes empty if the dt between samples is
larger than the delayed horizon).
- Separate "baro fault" from "baro intermittent": intermittent is a
temporary failure and should prevent from switching to baro right now,
but "fault" means that it should never be used anymore
- In case of height timeout, check for metrics but not for consistency
as the filter is likely to have diverged already.
* Adds Timer15 to stm32_common, if the timer base is defined
* Adds Timer15 logic for DMA and AltFunc config on stm32h7 boards
* Adds TIM15 BDTR->MOE support in stm32_common timer init
* Adds support for TIM15 pwm channels on Matek H743 Slim
If the hardware support RESET lockout that has nArmed ANDed with VBUS
vbus_sense may drop during a param save which uses
BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
while writing the params. If we are not armed and nARMRED is low
we are in such a lock out so ignore changes on VBUS_SENSE during this
time.
Once we have valid input we should use that and not overwrite our
update_result with the result from other inputs, otherwise the
automatic selection does not actually work.
This behavior means that only the first update will be used if there are
several sources updating in the same cycle.
It was a mistake to mix these two together, it is simpler to implement the boardctl interface
for the protected build, if the boardctl ioctls are different
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This adds an ioctl interface for NuttX protected build, allowing
system calls from user space to kernel for uORB, HRT and crypto
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Weak authority on a axis is currently defined as: none of the actuators have an
effectivness on this particular axis larger than 0.05.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle
* Navigator: reset cruise speed and throttle to default when VTOL-transitioning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-pass flag EffectivenessUpdateReason into effectiveness, indicating if there was an external
update or not. Reasons for external updates are:
-config changes (parameter)
-motor failure detected or certain redundant motors are switched off to save energy
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
When building uORB for NuttX flat build, or for some other target, everything
works as before.
When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
kernel side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This fixes the issue when changing the altitude during a goto for
example, where the vehicle was going backwards and upwards to reach the
closest point to the line. Now the vehicle simply goes towards the
target waypoint.
- RC_PORT_CONFIG is disabled by default if the board doesn't have
CONFIG_BOARD_SERIAL_RC set
- allows user facing custom RC configuration that overrides board
defaults
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.
An alternative would be to not run battery_status depending on config.
This saves a lot of flash space, in case functions from libtomcrypt
are not used (currently only RSA related).
When RSA is not used, the linker can now drop all libtomcrypt related things.
This is especially relevant for bootloaders using the SW crypto.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Make board_id compatible with ardupilot
* Initialize outputs for CAM1/CAM2 and Vsw pad
* Correct board type 1013 in bootloader to match AP
* Change usb vendor string to "Matek"
* Change cdcacm pid to 1013
* Comment out FLASH_BASED_PARAMS because of #15331
This is a bigger refactor of vmount to clean it up and plug some holes
in functionality.
The changes include:
- Fixing/simplifying the test command.
- Changing the dependencies of the input and output classes to just the
parameter list.
- Adding a separate topic to publish gimbal v1 commands to avoid
polluting the vehicle_command topic.
- Removing outdated comments and author lists.
- Extracting the gimbal v2 "in control" notion outside into control_data
rather than only the v2 input.
If we receive gimbal_device_attitude_status by mavlink we should not
re-send it as we are already supposed to be forwarding mavlink traffic
from the gimbal to the ground station.
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.
This commit corrects this by passing the default loiter radius as the guidance logic was using
This addes the command serial_passthru which will pass data from one
device to another. This can be used to use u-center connected to USB
with a GPS on a serial port.
Usage: serial_passthru [arguments...]
-e <val> External device path
values: <file:dev>
-d <val> Internal device path
values: <file:dev>
[-b <val>] Baudrate
default: 115200
[-t] Track the External devices baudrate on internal device
With the -t option baudrate changes made on the PC connected to the USB
will be set to the intrenal device.
SD is on SPI3 - correct pin mapping
Fix DMA Mapping for all SPI and RX DMA on U[S]ART RX
Fix Memory MAP SRAM size
Removed unused GPIO
Used proper I2C definitions
Ensure Watchdog is configured for debugging
Fixed FLASH param definitions
Removed unedded SPI init
matek_gnss-m9n-f4:Correct Board ID and Size
Build order SJF
Added Support for F40x
- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com>
The stackcheck build flash space overflows after adding hygrometers.
Also follow the naming convention of other similar config flags, and rename the
config.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Split the px4_layer into user and kernel space libraries. Add some stubs for
user-space (e.g. version) where an interface to the kernel needs to be added
Use posix-versions for cpuload.cpp and print_load.cpp for userspace; these link to nuttx internals. This functinality could be built on top of posix (e.g. procfs) interfaces
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- remove class _mag_sample_delayed
- update mag fusion call graph to use mag sample delayed functionally
- Ekf::resetMagHeading()
- use low pass mag directly, but check if valid (magnitude)
- MAG_FUSE_TYPE_INDOOR treat like auto if heading required
If the board supports encrypting logfiles, but the parameter SDCARD_ALGORITHM is set to NONE,
the log should be written to the sdcard in plaintext format. This fixes a bug which caused
logger to hang in mutex instead.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- Don't link to px4_layer
- Don't link to flashparams; flashparams would work only in kernel side
- Add missing link to px4_platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This goes the other way around; arch_io_pins is using the pin
definitions from drivers_board, so the drivers_board needs to be linked
into arch_io_pins
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Since uORB is split into kernel and userspace parts, it is no longer possible to just
link uORB into px4_platform, which is used in both kernel and user side.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Define __KERNEL__ macro during compilation and place the module in separate library
Remove default library linking to m or libc on NuttX. Add these in platform layer instead, since
they are different on kernel and user side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
The needed version specific things come from px4 layer. Since version
is used both in kernel an user sides in protected build, it can't directly
link to drivers_board
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
For NuttX protected or kernel build, the prebuilds can't contain libraries which are
different for kernel and user-space in protected/kerenl builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.
The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
smoothing when arriving at the circle
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
-rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it:
- bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch)
- bit 1: enable/disable airspeed setpoints via stick
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Take into account the actual number of roll and pitch acutators,
instead of assuming that all actuators have a roll/pitch component.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The forced flag is used to distinguish between updates due to a configuration
(parameter) change (only enabled when disarmed), and matrix updates due to motor
tilt change. Only update the normalization scale if the forced flag is true, and
use a tilt angle of vertical position for it to have the scales tilt-invariant.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
known issues:
- flash-based params does not work on H7 (due to ECC), so params are on
SD card. The last flash sector is still reserved however.
- output channel 6 does not support DShot (the implementation does not
handle channel gaps)
- flashing of the 2. flash bank is much slower (around 3x), than the 1.
bank for some unknown reason.
- after the BL jumps to the app, there's several seconds passing until
stm32_boardinitialize() is called.
and remove the possibility to set min > max to reverse.
Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
I don't think the PX4 setup script should decide whether a user is to
use ccache or not. Anecdotally, I've heard from some in the dev team
that they are not using it themselves, so I don't think there is a good
basis to push it onto others.
That being said, we can of course still use ccache as part of the CI
builds nevertheless.
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
- centralize logic for selecting a preferred calibration slot
- automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
- existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
The boot order is now:
1. The PX4 bootloader boots, and starts the camera.
2. The camera starts and sends the boot command to the PX4 bootloader.
3. PX4 starts.
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
rescaled from 0..4095 to 1000..2000 and the channel bits added to
separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
between POSCTL and ALTCTL.
This adds a check for the previous SYS_AUTOSTART id. If it is still the
old/previous SYS_AUTOSTART id, it will flash the new bootloader as well
as set the proper SYS_AUTOSTART id.
From what I can see the CONFIG_BOARDCTL_POWEROFF is not really used
anywhere, however, the BOARD_HAS_POWER_CONTROL is something that is set,
e.g. for the Mantis, to allow power off.
To play a power off tune, I needed to convert the file to C++, so that I
could use the uORB::Publication.
The current implementation starts playing the power off sound but then
stops it as soon as the button is released.
The problem is mostly that we only get an interrupt when the button is
pressed or released but we don't seem to be able to poll it, at least
not in the current state.
The limits might somewhat match the sensor, guessed based on the
original driver.
The quality is set so that spikes when sitting on the ground are not
used.
- this simplifies the reset by allowing a notch filter to reset as
needed
- improves cascade initialization, on reset each filter will reset
properly from the previous
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
- always handle UAVCAN parameters with or without the FW server active
- remove legacy ESC enumeration in FW server
To avoid weird cases where the altitude is different enough and
the offtrack state flies to the target altitude instead of the closest
point on the track between the waypoints.
So instead of fuzzing each and every PR for 10minutes, we just fuzz
30mins every 24 hours, at 6am UTC which should be a time when US and
Europe might be least active.
This adds the env option PX4_FUZZ which runs the LLVM libFuzzer which
throws random bytes at mavlink_receiver using MAVLink messages over UDP.
The MAVLink messages that are being sent are valid, so the CRC is
calculated but the payload and msgid, etc. are generally garbage, unless
the fuzzing gets a msgid right by chance.
As I understand it, libFuzzer watches the test coverage and will try to
execute as much of the code as possible.
- sensors/vehicle_imu: reset learned cal on any calibration change
during parameter update
- sensors/vehicle_imu: cleanup logic estimated bias -> calibration offset
saving
- don't invalidate saved calibration (the point is to keep the last valid)
- remove old debug code, etc
- sensors/vehicle_imu: notify parameter changes if accel or gyro
calibration has changed
- lib/sensor_calibration: add calibrated() and calibration_index()
getters, keep Accelerometer/Gyroscope/Magnetometer in sync
This is an attempt to fix the test failure where PX4 detects an RC
timeout presumably because the tester process mavsdk_tests is stalled
and does not send RC control messages in time.
The imu and sensor_combined data should not be used when it has not been
updated yet, otherwise this triggers a memory sanitizer warning:
Conditional jump or move depends on uninitialised value(s)
at 0x2DA7AA: __sanitizer_cov_trace_const_cmp1 (in build/px4_sitl_default-clang/bin/px4)
by 0x3C4E79: EKF2::Run() (src/modules/ekf2/EKF2.cpp:401)
by 0x6EB881: px4::WorkQueue::Run() (platforms/common/px4_work_queue/WorkQueue.cpp:187)
by 0x6ECB9D: px4::WorkQueueRunner(void*) (platforms/common/px4_work_queue/WorkQueueManager.cpp:230)
by 0x4C07258: start_thread (in /usr/lib/libpthread-2.33.so)
by 0x4D415E2: clone (in /usr/lib/libc-2.33.so)
Conditional jump or move depends on uninitialised value(s)
at 0x3C4E7C: EKF2::Run() (src/modules/ekf2/EKF2.cpp:401)
by 0x6EB881: px4::WorkQueue::Run() (platforms/common/px4_work_queue/WorkQueue.cpp:187)
by 0x6ECB9D: px4::WorkQueueRunner(void*) (platforms/common/px4_work_queue/WorkQueueManager.cpp:230)
by 0x4C07258: start_thread (in /usr/lib/libpthread-2.33.so)
by 0x4D415E2: clone (in /usr/lib/libc-2.33.so)
- introuce slew rate limiting of airspeed setpoint (with slew rate of 1 m/s/s)
- some refactoring and clean up
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This prevents a memory sanitizer/valgrind warning:
Conditional jump or move depends on uninitialised value(s)
at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4)
by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605)
by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)
Using make tests in docker will fail, because the current basic image used by px4io/px4-dev-simulation-bionic is ubuntu18.04, the default version of cmake is 3.10, and the add_compile_definitions command is only available in cmake 3.12+(ubuntu 20.04).
The existing implementation had a flaw: when the buffer was getting full,
mavlink started to busy-loop, as the uart has data (poll returns immediately)
but no new data was read from the uart due to the buffer being full.
As rtps is running at lower prio, it never got the chance to read again,
making the problem even worse.
After 1s the timeout triggered and the buffer was cleared, so it recovered.
Instead of allowing for CPU spikes, we now immediately clear the buffer
(only as much as we have to), ensuring that new data is read from the uart.
In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- allow effectiveness matrix to select control allocator method
(desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
Github constructs the workflow names from the
matrix configurations. Having latitude and longitude
in the fist columns makes these names rather cryptic.
- non-trivial perf counters (elapsed & interval) are relatively expensive
- if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.
The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.
The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4. For more information about the issue, see:
apache/incubator-nuttx#3633
As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
This enables the use case where the gimbal v2 protocol is used
between the ground station and the drone, and the gimbal v1 protocol is
used between the drone and the gimbal.
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us.
- Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system.
- Keep fallback based on system RTC when no PPS pulse was captured
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.
- consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1
- this accommodates rotated data (|INT16_MIN| = INT16_MAX + 1) and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)
- Allocate and free the node name in uORBDeviceNode.
- Add protected build support by de-allocating the name with kmm_free, when
running in kernel side. strdup allocates from the kernel heap in NuttX kernel
space.
- Remove the CDev::unregister_driver_and_memory(), it is no longer used
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
In NuttX protected build there are separate work queues in kernel and user sides.
pthreads are only available in user side, so use tasks and kthreads for
memory protected builds.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this was necessary to get the secondary ms5611 working reliably on a
particular CubeOrange
- the sensor is transferring very little data, so lowering the speed by
default everywhere is harmless
The FW Position controller sets the wp to be tracked during a
VTOL front transition, the coordinates sp set here weren't used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- use NuttX gdb script for nxthreads and thread backtrace
- update jlink_gdb_backtrace and jlink_debug_gdb helper targets to use
NuttX gdb script
- Debug/PX4 fix "perf" divide by zero
- Debug/PX4 add "dmesg"
This fixes a case where the px4 startup is not stopped when the
px4 process is killled using -SIGKILL against the px4 deamon.
In that case, the currently executing command/client is killed
and properly shutting down with result -1, however, the next command
is started anyway.
This means that the next time we try to run the simulation we get a
"PX4 daemon already running for instance 0" error and PX4 doesn't start
properly.
By adding exit on error, we properly exit in the case where the startup
script gets stopped/killed.
This should help when gzserver does not respond yet and we end up
without a model and hence can't connect later and time out.
This change also required a fix to prevent the tester to hang on
terminating all runners. By using poll instead of only read we can
prevent that and actually properly join the logger thread.
* ekf2: selector treat combined test ratio > 1 as a warning
* ekf2: wait for 1s of constant warning to trigger an instance switch
Co-authored-by: bresch <brescianimathieu@gmail.com>
Use the same memory allocation in sw_crypto driver as what is used in
src/lib/crypto libraries
In addition, in nuttx protected build, allocate all memory from kernel heap
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
There was an error that PX4_CRYPTO was cached accross variants, if it was
defined just for one variant.
This synchronizes the caching of BOARD_CRYPTO with other similar BOARD_ flags;
it is set as INTERNAL and "1" when enabled.
Also remove handling of BOARD_KEYSTORE; it is not used anywhere after
changing the crypto under src/drivers. If a separate keystore driver
is required, it is just selected as any other driver in px4board
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This fixes the following compile error on Mac:
src/drivers/gps/gps.cpp:562:23: fatal error: use of undeclared identifier 'B921600'
case 921600: speed = B921600; break;
^
dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.
When scaling manual input, we should only use pitch -90 to +90 instead
of -180 to 180 degrees which leads to weird behavior as it gets passed
on by a quaternion.
It is possible to either set the keyfile locations in board configuration or
with the same environment variables as before.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This is more logical place for the "backend" implementation than
directly under platform.
This also allows making other implementations as "real" drivers, as well as proper configuration via Kconfigs
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
On Nuttx we have an additional check whether the directory is accessible
to check if we are trying to write to storage that is not on the SD
card. This returns the FileProtected error whereas on Linux this just
ends up being a FileNotFound.
The ifdefs around this issue are not pretty but the alternatives of
either removing the tests for /bogus folders, or removing the additional
check on the NuttX side don't seem better either.
In commit 462b572172 the reading operation
on the PX4 side was changed to only read as many bytes as requested
rather than however many fit in the payload data.
This caused the unit tests to fail which this commit here aims to fix.
What is confusing about MAVLink FTP is that there is a size field which
generally signals how many bytes of the payload data are used/set.
However, in the case of a read requst, the size field is used to
indicate how many bytes should be read. The payload data is empty in
that case though.
This case was, from how I understand it, not implemented/tested in the
unit tests and now failed. In order to implement it I had to change a
few things:
- Change _setup_ftp_msg and _send_receive_msg so that the params contain
a data length rather than the size field. The size field itself needs
to be set outside of these methods using payload->size.
- Since we test files smaller, equal, and bigger than one payload data
length, I implemented that we send multiple read requests until we
have the whole file and not just the first part.
- Additionally, I saw a lot of uninitialized warnings in valgrind, and
got rid of them by adding a few zero initializations.
This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- avoid unnecessary filter reset on parameter update
- additional minor optimizations (precomputing dt inverse, etc)
- moving filter reset check and dynamic notch filter update checks out of the update loops
- this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
Don't compare pointers to metadata, but the metadata contents.
In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.
It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.
- fix confusion between estimated bias and calibration offset when
saving after each flight
- when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
- fixes https://github.com/PX4/PX4-Autopilot/issues/18658
In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
- use associativity of matrix operations to reduce size of temporary
matrices and number of multiplications in the M <= N case
- minimize the number of temporary matrices required
This fixes the warning appearing with GCC 10.2:
../../src/lib/matrix/matrix/Matrix.hpp:481:34: error: logical ‘and’ of equal expressions [-Werror=logical-op]
481 | for (size_t i = 0; i < M && i < N; i++) {
|
I would prefered something with if constexpr but we don't have that yet
in because we're using C++14.
* Add SparseVector
temp
* Add gtest
* Some reworking of the sparse concept
* Change type of M from int to size_t
* Add const modifier
* Add needed declaration for accessing elements of _indices
* Add norm_squared, norm, longerThan
* Add test for all sparse vector functions
* Add missing const to slice's norm_squared, norm and longerThan
* Construction from Vector<M> and carray[N]
* try to fix ci
Co-authored-by: Julian Kent <julian@auterion.com>
GCC 10 gives a warning
"comparison of unsigned expression in ‘>= 0’ is always true"
for these asserts since checking if an unsigned integer cannot
be negative and hence the statement gets droped.
Most often the multiplication in convention descriptions and papers is
described in matrix multiplication style like this:
q · p := Q(q)p
Q(q) :=
[q0 −q1 −q2 −q3]
[q1 q0 −q3 q2]
[q2 q3 q0 −q1]
[q3 −q2 q1 q0]
I'm just rearanging the terms such that it's easily comparable with
these definitions additional to it being clearly described by
documenting we use the hamilton convention.
I want to switch the print() function back to use printf()
such that it's fully compatible with all (embedded) platforms.
To still test the print function I'm capturing stdout into a file
such that the print() function can stay unchanged and the result of
the printf()s can be evaluated.
This is important depending on the platform because norm()
calls matrix::squrt() which dispatches correctly to the implementation
for the used type. Otherwise float squrt()s can get calculated as
double.
* Fix compilation error
* Add implementation of pseudo-inverse
The implementation is based on this publication:
Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
It is a fully templated implementation to guaranty type correctness.
* Add tests for pseudoinverse
* Apply suggestions from code review
Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>
* Adapt fullRankCholesky tolerance to type
* Add pseudoinverse test with effectiveness matrix
* Fix coverage
* Fix rebase issue
* Fix SquareMatrix test, add null Matrix test
Before the print function was just implicitly called somewhere
and that's why we had 100% line coverage. With this we have actual
testing of the functions.
The original implementation with no wrapping on size_t is more readable
but the compiler errors with:
internal compiler error: in trunc_int_for_mode, at explow.c:55
I read up and it's apparently a loop optimization problem.
Inspired by https://stackoverflow.com/a/27224697/6326048
I used a far less readable implementation that works fine and
wrote a comment to explain it.
I had a look at the implementation of `slice`, and I found it odd that it doesn't have a copy loop. The current implementation does a raw memcpy of the underlying contiguous row-major data. As far as I can tell, this could only slice along rows. Interestingly, I found that the tests only tested for slicing along rows, so this bug would go unnoticed.
I added some tests that checks slicing along columns also. I have a feeling this would break, and we need to fix the implementation of `slice`. However I could be wrong, and hence I'm submitting these tests first to verify.
It used a pointer and could therefore not do correct type checking
for index out of bound or struct memebr order.
Has to be considered unsafe and bad practise.
We should switch to arrays as representation for vectors
inside the messages instead of foo_x, foo_y, foo_z fields.
* Euler, Quaternion: fix compiler errors for GCC 6.1.1
GCC output:
error: implicit conversion from ‘float’ to ‘double’ to match other operand
of binary expression [-Werror=double-promotion]
* astyle: fix formatting for Euler.hpp & Quaternion.hpp
The Column Vector you are copying from, only has one Column and it is indexed by 0 not 1.
I also completed the unit test stub that would have found this bug.
* added the trace function for a SquareMatrix
* added Vector3.hat() and it's counterpart Dcm.vee()
for skewsymskew symmetric matrix operations in relation to the cross product
see https://en.wikipedia.org/wiki/Hat_operator
* Matrix::write_string produced runtime errors when I used it in PX4 posix simulation, i simplified it
* a Matrix3f is a SquareMatrix
* added tests for SquareMatrix.trace, Vector3.hat and Dcm.vee
* added a test for quaternion initialisation from array
* preventing buffer overflows in Matrix.write_string method
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
about: See https://github.com/PX4/Devguide for documentation issues
about: See https://github.com/PX4/px4_user_guide for documentation issues
---
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
## Attention! Please read the note below
**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
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.
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.
E.g. For this use case I ran into...
**Describe your solution**
A clear and concise description of what you have implemented.
**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.
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/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
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))
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
## Changing code and contributing
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
### Weekly Dev Call
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -88,35 +88,43 @@ This repository contains code supporting Pixhawk standard boards (best supported
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
## Project Roadmap
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
## Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
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