355db041cc
NuttX with stm32 pinmap changes, USB OTG, ULPI Updates
2023-05-11 23:48:47 -07:00
be03b7f098
Allow to modify uxrce_dds_client port with a env var
...
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-05-10 08:17:56 -07:00
47e802ef92
Fix tailsitter control frames ( #21573 )
2023-05-10 22:33:53 +09:00
951f89c8a8
FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 14:23:12 +02:00
9c42dcbb0b
ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 14:23:12 +02:00
87c8f170ae
ROMFS: FW simulations: remove re-declaration of params to vehicle default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 14:23:12 +02:00
6fb55a8ad8
ROMFS: remove param RWTO_TKOFF from configs where only set to default again
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 14:23:12 +02:00
cad61fcb84
ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 14:23:12 +02:00
ab71ef4447
FW Rate Controller: fix manual tailsitter (only transform to body frame once) ( #21565 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-10 09:29:02 +02:00
8222cbca2c
ekf2: last range sensor simple timestamp protection
...
- sanity check againist potential timestamp issues with incoming
distance_sensor data
2023-05-09 12:02:42 -04:00
04c5d70588
matrix: Describe emult, edivide functions
2023-05-09 16:14:55 +02:00
4cd078409d
AirspeedValidator: disable innovation checks if lpos invalid
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-08 21:46:45 -04:00
1e4fcfc614
mc_pos_control: fix potential thrust spike on hover thrust change
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Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-05-08 21:42:25 -04:00
da14650aa2
ads1115: Probe for reset value before init, do not spam console on device lost
2023-05-08 16:47:34 +02:00
38505c80be
update all px4board kconfig
2023-05-08 08:48:48 -04:00
636c3c069f
gimbal: make device ID a clear out argument
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The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-08 07:06:37 +02:00
3c45b184d3
gps: Improve the FALSE setting of the ALREADY_COPIED variable
2023-05-08 07:04:11 +02:00
ddfc2986dc
mavlink: flow control param needs reboot
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Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-07 21:48:27 -04:00
000a3c10e2
Add ADIS16507 params
2023-05-06 17:11:42 -04:00
b12f5c4e31
adis16507 group delay should be subtracted from timestamp_sample
2023-05-06 17:11:42 -04:00
2cef8a03d4
ARKV6X add ADIS16507
2023-05-06 17:11:42 -04:00
d2ca763d23
Navigator: set cruise_speed to default on entering new mode ( #21503 )
...
The resets in the modes (eg Loiter mode) are not active yet, so manually
set rep->current.cruising_speed = -1.f if not already in the same flight mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-05-05 15:53:17 +02:00
40324b03f4
fmu-v6x: pulldown on RTS not required
...
On CTS with DMA, we need the pulldown but not on RTS.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-05 02:49:25 -04:00
3cc940cb06
fmu-v6c: fix Telem1, Telem2 without flow control
...
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-05 08:02:58 +12:00
9e5420bbbd
microdds_client: rename to uxrce_dds_client
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| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-05-03 11:51:53 -07:00
1d4b66fcbc
gps: use all injection data
...
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-03 07:47:51 +02:00
2fd3de8f45
gps: retry switching RTCM injection more often
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I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-03 07:47:51 +02:00
6108b31e6a
gps: reset RTCM instance
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We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.
Therefore, this change fixes the logged RTCM instance.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-03 07:47:51 +02:00
b6f19d5e9b
Added is31fl3195 LED Driver
2023-05-02 10:50:24 -04:00
409c1bbf7a
PX4 icm42688p:Add Support for the ICM42686
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icm42688p:Fix colission on custom1 from rebase
2023-05-02 10:50:24 -04:00
9c467198be
module_config: support custom actuators_metadata backed by module-level params
2023-05-02 10:09:52 +02:00
7eb6535273
driver/rc/crsf: fix print format for Linux platform
2023-05-01 17:36:26 -04:00
2a93875a5f
Update submodule libevents to latest Mon May 1 12:39:12 UTC 2023
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- libevents in PX4/Firmware (406dc9b62627aec0c14df2d1e6d09b849f12487f): https://github.com/mavlink/libevents/commit/48911e7be752a908a15d945b796ed8d8282b7b02
- libevents current upstream: https://github.com/mavlink/libevents/commit/a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35
- Changes: https://github.com/mavlink/libevents/compare/48911e7be752a908a15d945b796ed8d8282b7b02...a9a3fc07abb8bd8eb6fbca64c35b479cab91ff35
a9a3fc0 2023-03-31 Beat Küng - README: update link to initial design doc
fb630b3 2023-03-30 Beat Küng - pylint: fix 'Raising too general exception' errors
72108eb 2023-03-29 flickering-light - Unused content variable fix
2023-05-01 13:40:00 -04:00
e8d12e26c2
Update submodule mavlink to latest Mon May 1 12:39:14 UTC 2023
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- mavlink in PX4/Firmware (487c2b03cae972f42a9fe7c397f6949fed63ca3d): https://github.com/mavlink/mavlink/commit/d6d86d3f0c90a67c275d6833931f7c712b858dba
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
- Changes: https://github.com/mavlink/mavlink/compare/d6d86d3f0c90a67c275d6833931f7c712b858dba...3ee5382d0c96134b0e1c250d8c2d54bfed0166fa
3ee5382d 2023-04-20 Peter Barker - common.xml: exclude any stored home location from MISSION_CURRENT.total (#1976 )
e0f59ae2 2023-04-13 Hamish Willee - Remove WIP from gimbal device messages/commands (#1973 )
181346b5 2023-04-12 Peter Barker - common.xml: remove MAV_CMD_ACK (#1972 )
2023-05-01 11:11:15 -04:00
432ce45ef0
Update submodule sitl_gazebo-classic to latest Mon May 1 12:38:59 UTC 2023
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- sitl_gazebo-classic in PX4/Firmware (4bb4bc185bhttps://github.com/PX4/PX4-SITL_gazebo-classic/commit/1c5818e56c2f54ca16f465fbf43580b1b6f3ece0
- sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/3f2b9678af781bccb621dde5b75bb2b59419dcc7
- Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/1c5818e56c2f54ca16f465fbf43580b1b6f3ece0...3f2b9678af781bccb621dde5b75bb2b59419dcc7
3f2b967 2023-04-11 JaeyoungLim - Ignore sdf validation for land_pad (#977 )
a91e4fd 2023-04-11 Jonas Perolini - Add support for camera and new land pad in irlock simulation (#950 )
8fcd3cf 2023-04-10 JaeyoungLim - Remove bionic related tests (#974 )
2023-05-01 11:10:37 -04:00
3f13a6e787
gimbal: implement gimbal_device_id
...
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-05-01 09:02:25 -04:00
b23eee40f0
bmi088: Do not use invalid values
2023-05-01 09:02:04 -04:00
f0bea542d5
Update world_magnetic_model to latest ( #21533 )
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* Update world_magnetic_model to latest Mon May 1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication
Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com >
2023-05-01 08:59:55 -04:00
b74e929877
update all px4board kconfig
2023-05-01 08:59:08 -04:00
4bb4bc185b
commander: level calibration delete unused SENS_BOARD_ROT param access
2023-04-30 21:36:43 -04:00
521abecbbf
ekf2: remove all remaining uses of EKF2_AID_MASK
2023-04-28 22:31:17 -04:00
98a8d080b6
ekf2 params: fix my bad english
2023-04-28 22:31:17 -04:00
2a2e43b620
ekf2: move flow fusion activation from AID_MASK to OF_CTRL
2023-04-28 22:31:17 -04:00
39c2f95669
ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL
2023-04-28 22:31:17 -04:00
8b4566b6bb
drivers/hygrometer/sht3x: extend alert range ( #21521 )
2023-04-28 10:33:06 -04:00
eb8342b477
ARK Cannode fix empty rc.serial
2023-04-28 09:31:31 -04:00
b8b80e409f
boards: px4_fmu-v5x_test remove drivers/telemetry to save flash
2023-04-27 20:14:26 +02:00
5b0b46ff55
boards: px4_fmu-v5x_default disable LPE and ATTQ to save flash
2023-04-27 20:14:26 +02:00
cdc717be53
Speed reset when switching flight modes ( #21414 )
...
* speed reset between flight modes
* no whitespace
2023-04-27 17:32:43 +02:00
bfc1e36f45
Standard: fill att_sp.thrust[0] with _pusher_thr value during transition to FW ( #21520 )
...
Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-27 17:30:36 +02:00
f76399be5e
vtol_type: scale VT_TRANS_TIMEOUT with air density ( #21509 )
2023-04-27 09:22:04 +02:00
0afd93a9e9
gimbal: add control setter and status
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This adds the ability to manually set who has primary control over a
gimbal and also adds printing it as part of the status.
This is helpful, especially while working on the QGC gimbal v2
implementation.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-26 08:20:34 +02:00
36877b9efc
Added crosshairs to MSP OSD driver
2023-04-25 13:49:42 -04:00
a46ef72fff
Makefile: validate_module_configs skips src/lib/events/libevents/*
2023-04-25 07:51:25 +02:00
08782a0837
reset vroi when resetting misson on landing and run set_current_mission_item()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-21 07:47:58 +02:00
55faa8cb2d
mission: only run update_mission() if mission is updated, not when we want to reset
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-21 07:47:58 +02:00
e76c2b6a43
delete unused mavlink_px4.py & fix typos in VehicleCommand ( #21332 )
...
This file is not used anywhere neither in PX4-Autopilot, nor in the docs.
---------
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-04-20 07:50:58 +02:00
51f71909d4
Update ekf2_params.c - typo EKF2 aid mask
2023-04-19 17:11:47 -07:00
0934d3bf24
VOXL2 snapdragon spektrum rc refactor ( #21427 )
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* Replaced outdated snapdragon_spektrum_rc and spektrum_rc drivers with VOXL2 board specific spektrum_rc driver
2023-04-19 11:22:43 -04:00
018ca6b49d
VOXL2 board support updates ( #21426 )
2023-04-19 11:21:02 -04:00
cb66c48876
drivers/gps: increase stack to handle gps dump config for RTCM output (PPK)
2023-04-19 17:08:15 +02:00
b874eaf5f9
VTOL: remove deprecated VT_B_TRANS_THR
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
db379c9049
airframe configs: remove params set to default in custom config from configs
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Removes duplication.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
9975db2d2f
airframe configs: disable airspeed CBRK in rover and UUV defaults
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
88bf18a2fe
airframe configs: remove custom tuning if close to param default and not required due to hardware
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
cbbd514c1b
VTOL: increase default of VT_B_TRANS_DUR to 10s
...
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
f2c392e187
VTOL configs: reset TECS gains to default
...
There have been substantial TECS changes lately, and the config files
for custom VTOLs have not been updated since a long time. I would thus
rather use the default TECS gains for lightly maintained configs.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-19 10:22:10 +02:00
885bb7659b
navigator_main: orbit in FW: get_cruising_speed() ( #21484 )
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-18 16:01:24 +02:00
09d86085bd
kakute f7/h7/h7mini/h7v2: enable airspeed
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Without this airspeed sensors are not working which is not intuitive.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-18 07:45:52 +02:00
73db1a02ca
modal_io: add rpm unit to parameters ( #21473 )
2023-04-18 07:41:45 +02:00
89a00f9505
rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID
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set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-04-17 20:21:05 -04:00
a11cced4b2
drivers/ins/vectornav: fix attitude (quaternion) and GPS packet extract
2023-04-17 11:18:00 -04:00
5c1e0ddd96
FlightTaskTransition: use new 2D rotation
2023-04-15 21:57:40 +02:00
7ebd6cc74f
FlightTaskManualPosition: use existing stick library rotation
2023-04-15 21:57:40 +02:00
7b850a91b4
Sicks: use new 2D rotation
2023-04-15 21:57:40 +02:00
43850c24a1
AttitudeControl: remove unnecessary scope operator
2023-04-15 21:57:40 +02:00
37d3218d11
matrix: add 2d rotation matrix
2023-04-15 21:57:40 +02:00
c74322fc15
Pull request template: add changelog entry
2023-04-15 16:47:30 +02:00
1e94ad19c0
FlightModeManager: rework task starting
...
with the goal to make it more clear and the error only appear when
armed but every time the running task doesn't actually match
the mapping inside the start_flight_task() function.
2023-04-15 16:45:32 +02:00
b02a785033
microdds: add the position_sp_triplet to the dds topics ( #21449 )
...
- Position setpoint triplets can be useful for offboard processes to understand the intention of navigator
2023-04-14 13:37:45 -04:00
da519573d4
FWPositionControl: trim throttle calc: guard against min/max=trim airspeed ( #21469 )
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-14 11:55:23 +02:00
bc560ddddb
RTL: fix Mission RTL vs normal RTL ( #21464 )
...
* Navigator: on_mission_landing() only can return true if currently in mission mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* RTL: reset RTL state when not in RTL nav_state
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Navigator: fix mission vs. normal RTL
- remove extra state _should_engange_mission_for_landing from rtl and have
this logic outside of RTL where Navigator decides on running mission RTL or normal RTL
- fix logic in Navigator to decide mission RTL vs normal RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Mission: land_start(): fix decision if already on mission landing
Simply checking landing() is not enough, as that is not reset until
set_current_mission_index(get_land_start_index()) later in the function.
Instead ask Naviator about it (on_mission_landing()).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Navigator: only update _shouldEngangeMissionForLanding once, to not set it to false after VTOL backtansition
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-14 09:49:47 +02:00
752e3b450d
Update GPS submodule
2023-04-14 07:35:43 +02:00
82fd2987c9
fw pos control: revert name until we delineate this module a bit more ( #21442 )
2023-04-13 17:00:04 +02:00
a2ce73d39d
px4/fmu-v6x: increase BL baudrate for flashing via uart to 1500000
2023-04-13 07:46:49 +02:00
989d9243b7
fix control_allocator: correct PRINT_MODULE_USAGE_NAME
2023-04-13 07:46:09 +02:00
7e0f929ad1
gps: add sbf with heading ( #19374 )
...
Co-authored-by: Seppe Geuens <seppe.geuens@tii.ae >
2023-04-13 07:44:35 +02:00
98026a3e10
gz_bridge: fix missing orientation and frames in odometryCallback ( #21348 )
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-04-12 22:46:16 +02:00
67d03461d1
Port px4vision airframe to gz environment ( #21409 )
...
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.
* Port of the PX4 Vision gazebo-classic model to Gazebo.
With Gazebo Garden, everything seems functionnal.
* Added airframe for command make px4_sitl gz_px4vision
* revert author field
* Import model from Ignition Fuel instead of defining it directly in the .sdf
2023-04-12 18:46:49 +02:00
1234aae3df
gimbal: output RC fix actuator_controls_2 -> gimbal_controls regression ( #21460 )
...
- small typo introduced in https://github.com/PX4/PX4-Autopilot/pull/20837
2023-04-11 22:03:42 +02:00
958c202137
fix timesync source for DDS protocol
2023-04-11 09:13:48 +02:00
ab1e0caae9
Add NAV_CMD_DO_SET_ACTUATOR to mission commands
2023-04-11 08:12:18 +02:00
9821513a0a
sensors module: add 3 decimals to all the type:float params
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2023-04-11 08:11:04 +02:00
cbe611ce66
Update mavlink submodule to latest
2023-04-11 07:44:10 +02:00
7f251d0935
fixed incorrect string-from-error function usage causing build failure
2023-04-11 10:04:43 +12:00
0cfe135028
cubeorangeplus: enable bl_update
...
This way the bootloader can be updated.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-10 15:19:25 +12:00
728367a1dc
cubeorange: enable bl_update
...
This way the bootloader can be updated.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-10 15:19:25 +12:00
17806a9608
ekf2: robustify wind init using airspeed
...
Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
2023-04-08 14:12:21 +02:00
8f520ab019
tecs: fix throttle prediction ( #21444 )
...
* tecs: fix throttle prediction
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com >
2023-04-06 20:13:32 +02:00
460956fd33
TECS: revert altitude controller to old logic
...
- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled
if height_rate_setpoint is set, only use that one to update altitdue trajectory
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
dde656f4b1
TECS status: rename tecs_status.altitude_filtered to altitude_reference
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
f06150bf0c
FWController: write out tecs_status
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
60cd20c19c
TECS: make more readable
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
2d01cf63ce
TECS: rename _reference_model to _altitude_reference_model
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
beeae1f673
TECS: rename TECSReferenceModel to TECSAltitudeReferenceModel
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
0fa0e2f583
drivers/ins/vectornav: comment out redefined and remove -Wno-error
2023-04-06 14:06:57 -04:00
cbc067f235
boards: include INS drivers by default on PX4 FMU (eg VectorNav VN-100, VN-200, VN-300)
2023-04-06 14:06:57 -04:00
1f5046f165
FWPositionControl: trim throttle prediction improvements ( #21345 )
...
* FWPositionController: add linear airspeed-to-trim-throttle mapping
Scale trim throttle in a linear way with airspeed.
Different gradients above/below trim airspeed.
The airspeed- and airs density-corrected trim throttle is required for an accurate
throttle prediction in TECS, while the default trim throttle is still needed
as well, as the throttle delta from height rate setpoint delta is linked to it.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 11:56:54 +02:00
94fb334d8f
Navigator: fix logic around when to switch to mission landing for RTL ( #21390 )
...
* Navigator: change way of telling logic if RLT was started just now
* Navigator: change logic around when to engage Mission mode for RTL
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP
and vehicle is already in LOITER mode.
* Navigator: do not engage RTL at all if already on mission landing
* Navigator: consider to be on mission landing if the LOITER_TO_ALT and dist small
To find out if we're currently on a mission landing, check if we either are
past the land start marker OR currently land start marker is current WP,
the type is LOITER_TO_ALT and the vehicle is inside loiter.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-05 10:11:14 +02:00
fb3b4a3151
ekf2: remove duplicate buffer push of system flags
2023-04-04 15:56:09 -04:00
831b0d9b11
uavcan: minor fix regarding log output ( #21415 )
...
Error message for "UavcanServers init" returns error code from UavcanServers->init instead of _sensor_bridges->init
2023-04-04 07:17:31 +02:00
f4681f01b6
drivers/gps: increase stack
2023-04-04 07:16:21 +02:00
aa5b9ae638
fix failsafe: correctly handle Hold RC loss action
...
Otherwise the additional mode check triggers an RTL which takes precedence
over Hold.
Introduced in 132e9d2439
2023-04-04 07:03:42 +02:00
f7ed553f57
holibro qav250 airframe: fix PWM_MAIN_TIM0
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-04-03 07:29:53 +02:00
13487c654d
ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) ( #21410 )
2023-04-01 20:41:33 +02:00
19752a7670
fmu-v2/v3: fix HW detection on CubeBlack
...
This fixes the case where the hardware detection fails on CubeBlack when
a CAN device is connected to CAN1 and talking, and therefore preventing
the check from getting a clear result.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-01 10:34:24 -07:00
50f8c30f10
fmu-v2/v3: refactor detection function
...
This consolidates the version/revision detection function.
This should allow for actual changes in a follow up commit.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-04-01 10:34:24 -07:00
448b915694
gazebo airframes: cleanup and fix missing parameters ( #21411 )
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-31 23:01:29 -07:00
89bb4622ef
gazebo_tailsitter: disable multi-EKF for replayable logs
2023-03-31 15:22:38 -04:00
50b084cf17
MC auto: allow yawing during hold
2023-03-31 17:32:33 +02:00
62770c43f9
[AUTO COMMIT] update change indication
2023-03-31 10:15:12 +02:00
ed7c4bc5d7
ekf2: init tilt using quaternion from gravity vector
2023-03-31 10:15:12 +02:00
93ba7de0c3
gps: fix protocol param max
...
This seemed wrong.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-30 07:43:06 +02:00
178b31b6ff
jmavsim_run.sh: fix the wrong flags expression in getopt ( #20162 )
2023-03-30 07:22:31 +02:00
932b743e13
ROMFS: add motor assignment to holybro x500
2023-03-28 08:18:26 -07:00
319f3db5e1
tools: ip converter remove verbose output
2023-03-27 10:28:43 -07:00
51dd6b783c
microdds_client: Mark parameter as used only if truly used
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-27 10:28:43 -07:00
c7f67a3328
microdds_client: remove multi-instances supports, add agent IP as PX4 parameter
...
- multi-instances support is removed from the parameter definitions.
- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.
- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.
- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-27 10:28:43 -07:00
6fddbea3e4
microdds_client: fix check for length of participant XML ( #21374 )
2023-03-27 10:03:09 -07:00
ba17a137e1
Navigator: MissionFeasibiltyCheck first WP: check only to current vehicle position
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-27 17:43:33 +02:00
465ddddbfd
Navigator: take min of vehicle position or Home distance for first WP check
...
To prevent mission rejections when vehicle is currently far away from Mission start,
but planned home is close to it.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-27 17:43:33 +02:00
d8ed35c422
Navigator: take vehicle position for first-WP-distance-check
...
And only use Home position if current vehicle position is unknown.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-27 17:43:33 +02:00
4d2a31afe3
Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-27 17:43:33 +02:00
9c001f2e40
Fix SITL Test failure: Place PX4 instance runner after Gazebo server runner ( #21230 )
...
* MAVSDK_Test_Runner: Place PX4 instance runner after Gazebo server runner
- This was a nasty bug where starting PX4 instance first, then starting
Gazebo server was causing PX4 instance' EKF to freak out, probably
because it doesn't like getting data a while after it is started
- Detailed breakdown is given here: https://github.com/PX4/PX4-Autopilot/issues/21229#issuecomment-1450761542
- This now guarantees that such edge case won't occur and MAVSDK test
will run as it should
* MAVSDK Test Runner: Retain comment within 79 character limit
- To pass flake8 python style check
* Update test/mavsdk_tests/mavsdk_test_runner.py
Co-authored-by: Julian Oes <julian@oes.ch >
---------
Co-authored-by: Julian Oes <julian@oes.ch >
2023-03-26 11:27:01 +09:00
58a5aa26a0
Update submodule mavlink to latest Sat Mar 25 00:39:09 UTC 2023
...
- mavlink in PX4/Firmware (73104cab2e49118903cf32bdf11f6ea917fa394e): https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2
- Changes: https://github.com/mavlink/mavlink/compare/2bdcab78b53d1e349079b43c9d726036abe0617c...e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2
e1e68da5 2023-03-08 Hamish Willee - Add quickstart to the README (#1960 )
9b92bf2e 2023-03-08 Hamish Willee - Fix enum value for payload battery (#1959 )
81e9fcd5 2023-03-08 Hamish Willee - Allocate range for ras-a and indicate next free range (#1957 )
abbda253 2023-03-02 Hamish Willee - Indicate preference for COMMAND_INT (#1955 )
d3a8e4b8 2023-02-08 Julian Oes - development: add command to configure SiK radio
2023-03-24 21:43:59 -04:00
8306fb96ea
boards: update all NuttX defconfigs
2023-03-24 10:03:14 -04:00
efab9be488
update all px4board kconfig
2023-03-24 10:01:58 -04:00
4d9369dc67
Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023
2023-03-24 09:39:26 -04:00
e8a8e7c677
VTOL: increase deafult of VT_QC_T_ALT_LOSS from 10 to 20m
...
Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled
flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-24 13:33:52 +01:00
e58d33284a
vtol: correct/improve quad-chute param description
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-24 13:33:52 +01:00
937d27f8ee
Helicopter: add offset for yaw compensation based on collective pitch
2023-03-24 07:16:36 +01:00
eeb90ac70a
gazebo-classic/sitl_mutliple_run.sh: start spawning drones from index 1 ( #21183 )
...
Fix microdds key session collision when drones
with index 0 and 1 are used together
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-24 05:58:26 +01:00
1ea993880c
Fix typo in WORK_ITEM_TYPE ( #21311 )
...
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com >
2023-03-24 05:49:14 +01:00
09a0089c80
README: add Cube Orange+ ( #21361 )
...
This adds the Cube Orange+ to the list, and also changes the Hex naming
to CubePilot as that is how it is sold/marketed now.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-24 05:21:43 +01:00
cc2b367c0b
drivers/uavcannode: fix typo (hydrometer->hygrometer)
2023-03-23 22:06:55 -04:00
5b6d1e9290
TECS: change default for FW_T_I_GAIN_THR from 0.3 to more appropriate 0.1
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-23 15:00:36 +01:00
ac6c9c857a
Gimbal: remove shutter and retraction handling
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-23 06:59:02 +01:00
18898f1876
updating sitl-gazebo classic ( #21352 )
...
Co-authored-by: root <root@DESKTOP-OINCOKE>
2023-03-22 14:04:02 +01:00
d532578ecc
EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
98d07ad1f3
disable side slip fusion for tailsitters
...
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
07531d29b7
FailureDetector: fix attitude check for tailsitter
...
-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
edc570adff
AirspeedSelector: fix attitude rotation for tailsitter
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
6bee0893de
add circle intersection unit tests
2023-03-22 10:03:48 +01:00
af345c88e9
TrajMath: use fmaxf instead of max
2023-03-22 10:03:48 +01:00
c7bddda1db
MC auto: add maximum RC assist distance during landing
2023-03-22 10:03:48 +01:00
d6fa42fefd
mc att: add unit tests for AttitudeControlMath helper
2023-03-22 10:01:27 +01:00
edaf5bf0cd
mc att: extract tilt yaw error compensation to lib
2023-03-22 10:01:27 +01:00
f65daf7259
mc att: do not pass by euler angles to generate att sp from sticks
2023-03-22 10:01:27 +01:00
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
64e90b91aa
px4_fmu-v6c:Add Mini & fix Rev 1 ( #21226 )
2023-03-21 09:16:35 -07:00
32a5bd32ad
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
2023-03-21 11:25:34 -04:00
0784901a66
ekf2: add kconfig option to enable/disable optical flow fusion
2023-03-21 11:25:34 -04:00
9f8fa99d70
matrix: use stack allocation for debug output string
2023-03-21 15:01:26 +01:00
b1435c6e34
matrix: use output stream function template
...
to enable proper automatic output in gtest unit tests
that compare two `Matrix`, `Vector` or two `Dual` objects.
Credits to @jwidauer for showing me this trick.
2023-03-21 15:01:26 +01:00
b0189d95af
Use new Vector4 class
2023-03-21 15:01:26 +01:00
08d6465ce5
matrix: add explicit Vector4 type
2023-03-21 15:01:26 +01:00
da0e40c72b
googletest: switch to latest version 1.12.1 -> 1.13
2023-03-21 15:01:26 +01:00
91364ba901
mc land detect: use z_deriv and vz for vert movement check
...
z_deriv is less prone to bias errors
2023-03-21 09:22:58 -04:00
22c94f805a
component information: add translation support
2023-03-20 21:57:25 -04:00
631046b962
src/drivers/sw_crypto: Correct RSA lengths in the example sw crypto backend driver
...
Maximum plaintext length was wrong, it is just k - 2 * hLen -2, where k is RSA key modulus length and hLen is hash length
Also minimum block that can be encrypted didn't make sense for RSA-OAEP, it is just 1 byte, the rest will be padded.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-03-20 21:54:40 -04:00
b26669b085
Add crypto_deinit function for crypto_backend module
...
Bootloader needs to have a mechanism to de-initialize crypto, in case some HW accelerator
is being used. This adds the needed function for it
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-03-20 21:54:40 -04:00
8497d3388f
fix mavlink_ulog: use hrt_abstime instead of float
...
The float inaccuracy was leading to problems on SITL with large timestamps.
2023-03-20 21:47:41 -04:00
1524bd39b5
.gitignore: ignore generate top level log/ folder (colcon)
2023-03-20 11:06:12 -04:00
4363b09421
ekf2: add kconfig option to enable/disable external vision fusion
2023-03-20 10:12:17 -04:00
d47f96f1a5
ekf2: add kconfig option to enable/disable AUX velocity fusion
2023-03-20 10:12:17 -04:00
4270a303ab
ekf2: add kconfig option to enable/disable airspeed and sideslip fusion
2023-03-20 10:12:17 -04:00
98ff1afc19
ekf2: add kconfig option to enable/disable GNSS yaw
2023-03-20 10:12:17 -04:00
8b2205810b
ekf2: add kconfig option to enable/disable baro compensation
2023-03-20 10:12:17 -04:00
fe0e3acf09
ekf2: add kconfig option to enable/disable drag fusion
2023-03-20 10:12:17 -04:00
9a56b0a70d
refactoring jinja-gen call in a cleaner way
2023-03-20 14:50:56 +01:00
ed174d54e9
fix typo in LeddarOne.cpp
...
added missing "~"
2023-03-20 07:51:00 +01:00
e2de62e38b
GPS only warn if jamming state is critical
2023-03-17 21:38:28 -04:00
0afda910d1
VTOL: make sure that all virtual topics are updated
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-17 19:43:01 +01:00
71c746b9bf
drivers/distance_sensor/lightware_sf45_serial: fix path to crc lib (no longer in systemlib)
...
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2023-03-17 09:35:46 -04:00
0ae296bfe2
ARK CANnode fix params
2023-03-16 14:32:36 -04:00
c7d4d1f45c
FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
b33a8686f7
FWPositionController: only store acceleration and velocity in x
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
28db47480d
TECS: remove ununsed getSteRate()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
6ec2b902cc
ROMFS: only copy bootloader binary if systemcmds/bl_update included
2023-03-16 09:43:56 -04:00
d5e1f0fdaa
uorb_graph: remove handling for actuator_controls topic
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
17cd65a239
Navigator: remove support for DO_SET_SERVO
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
a1812dbde0
gimbal: move gimbal controls to new dedicated topic
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
1218d9b2fc
mavlink_mission: remove support for DO_SET_CAMERA_ZOOM
...
Camera controls should not happen through the flight controller, and
the control allocation has no means of controlling the camera zoom.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
27658354da
MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 11:55:45 +01:00
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
...
MC/FW rate controller and auto tuner: remove actuator_controls
AirshipAttControl: remove actuator_controls
MulticopterLandDetector: remove actuator_controls
mavlink streams vfr_hud and high_latency2: remove actuator_controls
RoverPositionController: remove actuator_controls
UUVAttitudeController: remove actuator_controls
battery: use length of thrust_setpoint for throttle compensation
VehicleMagnetometer: use length of thrust_setpoint for throttle compensation
Signed-off-by: Silvan Fuhrer
2023-03-16 11:55:45 +01:00
bcd6e7adee
comment out fake_traffic to prevent flash overflow
2023-03-16 07:32:43 +01:00
9de52bb5ec
[navigator] Tone Down traffic warnings
...
- add unit tests for adsb conflict detection
- move adsb conflict detection to lib/adsb and adsb conflict class
- use containers/Array.hpp for buffer array
- expand fake_traffic
2023-03-16 07:32:43 +01:00
89548e4f9e
gps: Support for Unicore HEADINGA sentence in NMEA
...
This adds a parser for Unicore sentences sent in-between NMEA sentences.
This brings support for the Unicore UM982 module which publishes heading
information based on the two antennas.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-15 21:55:15 -04:00
ea97a38b2b
Initial Cannode PWM Support ( #19748 )
...
* Add uavcannode esc/servo pwm control pipeline
* Remove cannode rc.interface with mixer purge
* Cannode add Kconfig options to reduce flash usage
2023-03-15 11:20:07 -04:00
f0a95f9572
ekf2: add new kconfig option for multi-EKF
...
- disabled if flash constrained or memory constrained
2023-03-15 09:32:47 -04:00
19a2b4ec31
ekf2: GNSS yaw only reset test ratio for new samples
...
- otherwise external test ratio monitoring could trigger a false positive
2023-03-14 21:49:24 -04:00
e375e02974
Add GPS spoofing state
2023-03-14 20:28:32 -04:00
2605562a69
cubeorangeplus: add I2C4, start AK09918
...
CubeOrange+ which have the ICM45686, also have the AK09918 connected
on the internal I2C4.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-14 08:34:28 -04:00
695d48d6c9
AK09916: add support for AK09918
...
The AK09918 seems to only differ in the WHO_AM_I ID.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-14 08:34:28 -04:00
7be3279675
cubeorangeplus: add check for SMPS support
...
If NuttX is built without support for SMPS it can brick the hardware.
Therefore, I suggest that we add this additional compile-time check.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-13 22:54:41 -04:00
36f430e385
cubeorangeplus: save some flash space
...
We need to make space for drivers.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-13 22:53:56 -04:00
bee4fe9470
boards: sensor config for CubeOrange+
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-13 22:53:56 -04:00
63dc6b5bc9
ICM45686: fix clipping due to rotation
...
It turns out that when you rotate by 45 degrees, as required on the
CubeOrange+, then you can easily get into clipping because the vector
components are constrained after the rotation. In order to avoid that,
we have to avoid getting close to the int16 range and switch from 20 bit
resolution to 16bit resolution earlier.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-13 22:53:56 -04:00
f4b48e685f
drivers: add ICM45686
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-13 22:53:56 -04:00
82dce9353c
gz models: fix deprecated warnings ( #21285 )
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-13 12:28:20 -07:00
fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
3bae99267b
fix(precland): Improved log messages ( #21289 )
2023-03-13 08:39:31 +01:00
9be8f81d75
flight_mode_manager: StickAccelerationXY protect from NAN velocity reset
...
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-03-10 08:17:20 -05:00
435c799f57
uORB: print more decimal places for float32 and float64
2023-03-10 07:39:34 +01:00
91f6ab865c
ROMFS: fix shellcheck error in px4-rc.simulator ( #21282 )
2023-03-10 07:37:45 +01:00
bd5838faf0
FlightTask: don't instaniate unused parameters
2023-03-09 17:40:55 +01:00
eb4da990c3
init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables
2023-03-09 09:40:35 -05:00
b3cc945a5a
ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()
2023-03-09 09:08:27 -05:00
c1f244a6fd
ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s ( #21264 )
2023-03-09 09:07:54 -05:00
60b85c2e1a
mavlink: add kconfig option to disable UAVCAN parameter bridge
...
- depends on DRIVERS_UAVCAN
2023-03-08 19:30:06 -05:00
eb86cb85b7
removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon
2023-03-09 12:43:47 +13:00
4dda5a97d8
ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)
2023-03-08 15:12:48 -05:00
ea20217c1b
kakuteh7v2/mini: EKF2 is already the default
2023-03-08 10:48:31 -05:00
593b3d250d
kakuteh7mini: remove duplicate param defaults
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-08 10:48:31 -05:00
ed49ed3903
kakuteh7v2/mini: use EKF2 without mag by default
...
This switches from attitude_estimator_q to EKF2 which should now work
without mag when the params are set to SYS_HAS_MAG = 0 and
EKF2_IMU_CTRL = 7 to enable gravity fusion.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-03-08 10:48:31 -05:00
132e9d2439
modeCheck: add warning when RC enabled but not present
2023-03-08 09:32:56 +01:00
898c0ae5a8
mode_requirements: refactor order of setting flags
2023-03-08 09:32:56 +01:00
7fa8dfe2d2
rcAndDataLinkCheck: always update manual control availability
...
and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
2023-03-08 09:32:56 +01:00
f498b90c41
mode_requirements: add manual control for manual modes
2023-03-08 09:32:56 +01:00
636dfdec6a
VScode: fix tasks.json and launch_sitl.json after ign -> gazebo renaming
...
PX4_SIM model need the simulator (gz_) prefix
Fix post debug task
Add x500_depth, rc_cessna, standard_vtol
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-07 21:28:39 -05:00
d45aeae1de
ekf2: add and share centralized method to clear inhibited state Kalman gains
2023-03-07 13:27:57 -05:00
7098970a38
Tools: extend documentation parser:
...
- Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported)
- Add the possibility for the parser to parse int argument with bitwise shift operators
2023-03-06 18:34:01 -05:00
603d4b999b
Update submodule sitl_gazebo-classic to latest Mon Mar 6 12:38:18 UTC 2023
...
- sitl_gazebo-classic in PX4/Firmware (7edce94b93https://github.com/PX4/PX4-SITL_gazebo-classic/commit/9343aaf4e275db48fce02dd25c5bd8273c2d583a
- sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/e3722bf9132567e8dd08b7ed6df2986e21a6ec18
- Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/9343aaf4e275db48fce02dd25c5bd8273c2d583a...e3722bf9132567e8dd08b7ed6df2986e21a6ec18
e3722bf 2023-02-24 Frederic Taillandier - Allowing to override sniffer's modules ip (#963 )
2221c95 2023-02-24 Frederic Taillandier - removing macos 1015 github actions (#962 )
48e9b17 2023-02-24 frederic@auterion.com - removing debug
265198d 2023-02-24 frederic@auterion.com - fixing indentation
de9bf14 2023-02-24 frederic@auterion.com - try fix build by updating the path to the right gazebo
ec8641d 2022-08-24 Konrad - Revert "Enable multi IMU capability in gazebo mavlink interface"
487a789 2023-02-21 Jaeyoung Lim - Revert "Add multi magnetometer capability. Magnetometer plugin now derived from sensorplugin. Magnetometer topic dervied from naming. Updated all models with magnetometer submodel"
2023-03-06 18:33:00 -05:00
2d92bd627a
FWRateController: always update manual_control_setpoint if in manual and FW
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
caee131e6a
FW Position Controller: mini fw_control_yaw_wheel refactoring
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
1e56d9c219
Rework flaps/spoilers logic
...
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller
FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).
VTOL: Rework spoiler publishing in hover
- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode
Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change
Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
16594bffa9
Rework landing gear logic
...
- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
3e884116c4
logged_topics: make landing_gear_wheel optional and increase interval to 100ms
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
4b54ddfe61
Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls
...
Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D
thrust setpoint vector beside the tilt is not feasible.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 22:43:41 +01:00
21c7f8ad74
posix server: changed the method of checking and setting the server file lock ( #21243 )
...
* Changed the method of checking and setting the server file lock on Posix to avoid conditions where the server can indicate that it is running but still hasn't finished it's initialization
2023-03-06 09:55:57 -05:00
5cade89499
Improve logging for Modal IO ESC ( #21188 )
...
- always publish esc_status
- when enabled via MODAL_IO_VLOG param, enable actuator debug output
- for modal_io commands, use ESC HW ID values instead of motor number for easier use
- publish esc_status message for command line commands
- Uncommented the code that fills in the cmdcount and power fields in the esc_status topic
---------
Co-authored-by: Travis Bottalico <travis@modalai.com >
2023-03-06 09:51:22 -05:00
daa302cdbe
Changes to allow the commander module to be built and run on Qurt ( #21186 )
...
* Changed exclusion to rely on the definition of PX4_STORAGEDIR
2023-03-06 09:49:07 -05:00
dc4926dc4d
remove WheelEncoders.msg
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 09:43:01 -05:00
0633d0d826
drivers: remove RoboClaw
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 09:43:01 -05:00
e5d5fcd315
Subscribe to vehicle odometry in GZ Bridge
...
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
2023-03-06 09:27:35 -05:00
8737099a33
commander: failsafe framework fix missing return in actionStr function ( #21245 )
...
- there needs to be a default statement for the compiler to work when this function is called.
2023-03-06 09:21:20 -05:00
b79578fa55
efk2: Force external vision vertical position if EKF2_HGT_REF=VISION
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-03-06 09:19:49 -05:00
3fac85369e
ekf2: gps control use adjusted velocity and position for reset
2023-03-06 09:03:39 -05:00
95754876ed
Apply small suggestions from code review
...
Further param description improvements.
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2023-03-06 14:00:02 +01:00
ec38ec660c
FW controllers: make param description more concise
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
4be74befd2
VTOL: remove pusher reverse feature
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
c09bf66639
VTOL: make param descripion more concise
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
9a038281c5
RoverPositionController: remove some unused stuff
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
feec8b2036
L1: remove some functions that Rover doesn't need
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
7edce94b93
v2_default: disable hover thrust estimator to safe flash
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-02 12:22:18 -05:00
74130d7f71
ucdr msg template add timestamp protections
...
- if timestamp (or timestamp_sample) unpopulated fill it with current hrt_absolute_time()
- if using provided timestamp don't allow it to exceed current hrt_absolute_time()
2023-03-02 09:52:53 -05:00
0770478dc7
FlightTaskDescend: Enable nudging by sticks when it's enabled
...
and stick input is available.
2023-03-02 12:06:40 +01:00
728570828f
FlightTaskManualAltitude: use StickTiltXY for horizontal stick mapping
2023-03-02 12:06:40 +01:00
21d580293a
StickYaw: use consistently for all flight tasks
...
- Switching to the first order filter that was previously
only in FlightTaskManualAltitude.
- Moving the scaling of full stick deflection to
radians per second into the class.
2023-03-02 12:06:40 +01:00
0c1f340154
StickAccelerationXY: improve comments
2023-03-02 12:06:40 +01:00
a29d02fd62
MulticopterRateControl: don't instaciate unused parameter
2023-03-02 12:06:40 +01:00
da4644c20a
Sticks: only use stick input if flagged valid
...
and add a function for just pitch roll stick input
2023-03-02 12:06:40 +01:00
1dada5daf4
Add StickTiltXY utility class to FLightTasks
...
to map stick input to vehicle tilt consistently and reliably across modes.
2023-03-02 12:06:40 +01:00
0c4b288973
RTL: only do calculations in is-inactive if global position is recent ( #21208 )
...
* RTL: only do calculations in is-inactive if global position is recent
* RTL: refactor calcRtlTimeEstimate to only calc and not pub
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-02 11:09:32 +01:00
458c351585
setup/ubuntu.sh: Only install Gazebo Garden for Ubuntu 22.04 ( #21173 )
...
* Tools/setup/ubuntu.sh: Only install Gazebo Garden on Ubuntu 22.04
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
* Apply suggestions from code review
---------
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
2023-03-02 10:51:29 +11:00
184c7fe79d
drivers/distance_sensor: Lightware Lidar SF45/B rotating sensor serial driver ( #19891 )
...
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2023-03-01 16:16:25 -05:00
bde194fb12
simulation/gz_bridge: local_position_groundtruth include heading ( #21224 )
2023-03-01 18:44:31 +01:00
e129534a58
fix ROMFS: add rc.autostart_ext to cmake
2023-03-01 08:53:17 -05:00
fe48de6240
Check position subscriber before force-send flag when sending GPS global origin stream
2023-03-01 08:52:41 -05:00
539f874325
mavlink main - enable gps global origin stream also on mavlink low bw mode and change all rates to 1Hz
2023-03-01 08:52:41 -05:00
6bf19ebe23
gps global origin stream - make sure we can always send out the message at least once on request
...
When requesting a message from a stream that is not active we start the
stream with interval=0 and call the request method once. For all streams
this works fine except the gps_global_origin. For this one the request method
is actually overidden to throttle down the rate and not just send out the message.
This will cause this message to never being sent on request if the stream
is not active by default.
2023-03-01 08:52:41 -05:00
76116d79f9
TECS: remove umcommanded_descent flag
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
527225357b
TECS: remove unused TECS_MODE_CLIMBOUT
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
2b73b6df70
commander: fixes valid mag count in HIL
2023-03-01 08:05:23 +01:00
d6b523b574
Update README: Maintainers, Boards, Roadmap ( #21030 )
...
* Update README: Maintainers, Boards, Roadmap
- First step after the community coordination call from January 30th
* README: Fromat list & remove discontinued boards & add others
- Addressed comments
* README: Add Simulation, remove QGC
- Only leave the PX4 specific categories (QGC is not)
* Add Beniamino as ROS2 maintainer
* README: Add note that README is main source of truth for maintainers
- We need to have a source of truth, we can use Github README for that.
2023-02-28 19:06:09 +01:00
bdb0fe77d0
v6x: fix mag orientation for V6X009010 and V6X010010 ( #21194 )
2023-02-28 11:01:16 +01:00
58000ff61c
Tools/setup/ubuntu.sh: remove comment from continued line ( #21191 )
...
Comment broke script
2023-02-28 08:12:20 +01:00
b5a6d6db0d
ekf2: fix controlEvYawFusion() yaw reset
2023-02-24 16:59:59 -05:00
a06a635da3
drivers/inv/vectornav: fix official vectornav library NuttX support
...
- vectornav library (libvnc) fixed for NuttX
- open serial port O_NONBLOCK (like __APPLE__)
- set serial port baud rate with cfsetspeed (like __APPLE__)
- vectornav backend thread increase stack and run at higher priority (SCHED_FIFO)
2023-02-24 16:59:38 -05:00
837095b9a8
tecs: use FW_T_SINK_MIN for STE_rate_min ( #21190 )
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 15:46:41 +01:00
33b54f7c57
vtol_att_control: Consolidate logic for front transiton completion ( #21107 )
...
* vtol_att_control: consolidate logic for front transiton completion
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* addressed review comments
Signed-off-by: RomanBapst <bapstroman@gmail.com >
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-24 15:52:27 +03:00
4259b5adac
Commander: copy sensor_gps in HomePosition::update() and store relevant fields in separate variables
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
006321e278
Commander: remove unused param COM_POS_FS_EPV
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
526e066d9a
Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
e6af8b9aa6
Commander: Home Position: move gps checks on when to allow setting home pos inside HomePosition class
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
352f773ec4
systemcmds/mtd: fix rwtest - force data to/from the device
...
Block Device driver uses a buffer so we need to ensure data is written or read to the device and not to the buffer so we can be sure if the device works properly
2023-02-24 08:08:19 +01:00
a1efafc42b
drivers/cyphal: incremental fixes for fmu-v5 ( #20671 )
...
* Cyphal: fix comparing floating-point issue
* Cyphal: fix setpoint serialization
* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications
* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode
* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT
* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval
* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub
* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers
* Cyphal: fix SubscriptionManager: we should take care about prefix
* Cyphal: fix readiness for test motor mode
* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config
---------
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com >
2023-02-23 10:57:50 -05:00
013365d6c8
ubuntu.sh: source the .profile after changing it
...
such that the arm toolchain is available in that terminal without
relogin for convenience.
2023-02-23 09:58:10 +01:00
22030c1b8c
ubuntu.sh: add libfuse2 to general packages
...
to allow running QGroundControl app image out of the box.
2023-02-23 09:58:10 +01:00
dabf33759b
ubuntu.sh: only add gazebo source once on 22.04
2023-02-23 09:58:10 +01:00
76aac7a5e5
VehicleCommandAck typo on module docs
2023-02-23 08:19:11 +01:00
4daa63afc2
Sensors.cpp - case the uorb topics like SensorGyro
2023-02-23 08:18:39 +01:00
ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor ( #21176 )
...
* Simulation Gazebo: Use Gazebo Airpressure sensor
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Fixed build
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Added feedback
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* make linters happy
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
---------
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-02-22 19:32:25 +01:00
06dfd1726f
microdds_client: fix -l flag and add -c for custom participant configuration
...
Allows to use a custom FastDDS configuration on the Agent side.
2023-02-22 11:15:29 -05:00
98263de17b
ekf2: move aux vel helpers to auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
a199df78cc
ekf2: move mag control helpers to mag_control.cpp
2023-02-22 09:08:33 -05:00
c20e4e4421
ekf2: move stopFlowFusion() to optical_flow_control.cpp
2023-02-22 09:08:33 -05:00
3a317ec18c
ekf2: move gps helpers to gps_control.cpp
2023-02-22 09:08:33 -05:00
9ec3f30ae1
ekf2: move gps buffer pop to controlGpsFusion()
...
- controlGpsFusion() now owns yaw estimator update
2023-02-22 09:08:33 -05:00
a867bb7d88
ekf2: let controlAirDataFusion() update yaw estimator TAS
2023-02-22 09:08:33 -05:00
60856ebe62
ekf2: move range buffer pop to controlRangeHeightFusion()
2023-02-22 09:08:33 -05:00
08f111f694
ekf2: consolidate airspeed fusion logic and helpers
...
- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
2023-02-22 09:08:33 -05:00
241cee2bb7
ekf2: move airspeed buffer pop to controlAirDataFusion
2023-02-22 09:08:33 -05:00
0711a34d0e
ekf2: move flow buffer pop to controlOpticalFlowFusion
2023-02-22 09:08:33 -05:00
ed8cef6cf0
ekf2: move controlAuxVelFusion control.cpp -> auxvel_fusion.cpp
2023-02-22 09:08:33 -05:00
b4e845d7c0
ekf2: move controlDragFusion control.cpp -> drag_fusion.cpp
2023-02-22 09:08:33 -05:00
c08a387c5a
ekf2: move controlBetaFusion control.cpp -> sideslip_fusion.cpp
2023-02-22 09:08:33 -05:00
d61b8c21b2
ekf2: move controlAirDataFusion() control.cpp -> airspeed_fusion.cpp
2023-02-22 09:08:33 -05:00
d840f7f39f
ekf2: move controlGpsYawFusion() control.cpp -> gps_control.cpp
2023-02-22 09:08:33 -05:00
b66e15c4b9
generate_msg_docs.py - fix path to messages
2023-02-22 09:32:05 +01:00
f887ad6ebf
mc_att_control: allow commanding a yaw rate with zero throttle
...
Still avoiding to build up absolute yaw error in that case.
2023-02-21 19:33:28 +01:00
2b0f7879bc
mc_att_control_main: separate yaw rate setpoint generation from absolute yaw reset
2023-02-21 19:33:28 +01:00
ce5cff55b7
mac_att_control: heading lock in stabilized only after ekf final yaw alignment
2023-02-21 19:33:28 +01:00
f0571de731
MCAttitudeController: remove reset of yaw_sp when landed
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-21 19:33:28 +01:00
fe3c1d0a92
logger: do not try to wait for mavlink ack when writing watchdog data
...
As it might block for 2.5s (if mavlink is blocked) and therefore would not
write to file before restoring the priorities.
2023-02-21 11:32:30 -05:00
66b0f6eb35
log_writer_file: call fsync after reliable transfer
...
ensures watchdog data is flushed immediately
2023-02-21 11:32:30 -05:00
e4cef9f303
logger: update watchdog
...
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s
There are precautions in case the SD card code itself has a busy-loop.
2023-02-21 11:32:30 -05:00
015ba62727
log_writer_file: do not call close() with mutex held
...
Generally not an issue, but if close() takes long, or even busy-loops due
to an underlying bug in the OS, it will block the main thread too.
2023-02-21 11:32:30 -05:00
5676cc32bc
Optionally enable sensor simulations
2023-02-21 11:16:25 -05:00
3bdb42b6a7
mro/pixracerpro: add missing px4_platform_configure() call ( #21158 )
2023-02-21 09:30:39 +01:00
3ab34fe5b1
ci: build thepeach FCC-K1 & FCC-R1
2023-02-20 21:56:08 -05:00
94be17af8f
FWPositionControllre: only check acceptance radius to swich to loiter to reach WP alt
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 21:55:27 -05:00
9ec6a4b1d7
icm42688p: fix comment about gyro and accel bits
...
This really confused me.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-20 21:47:11 -05:00
2008a447c3
FW PositionController: circular landing: publish orbit status
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
485785d81d
FW PositionController: circular landing: enable automatic landing aborts
...
Enable automatic landing abort on timed out distance sensor reading also for
the circular landing. Do not enable the no-terrain timeout check, as, opposed
to the straight landing, we here don't know when to expect the distance sensor
to get valid.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
37b6dccda9
Land: use MIS_LND_ABRT_ALT also in non-mission Land
...
As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
c47210fc77
FWPositionController: add support for circular landings
...
Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
50d75c537e
FWPositionController: auto_landing(): move non-position handling to top
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
b94ed34406
FW Position Control: initializeAutoLanding(): pass only alt value of pos_sp_curr
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
805de8a6d9
Navigator: set position setpoint to current location instead of to NAN
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
eaa4180920
Navigator: remove ununsed argument from set_land_item()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 17:04:39 +01:00
1fb6b003fc
NuttX with backport ioexpander/gpio:Add gpio_pin_register_byname
2023-02-20 04:14:01 -08:00
167e58abba
AirspeedSelector: remove unused variable
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 11:35:24 +01:00
1acb07c600
Navigator: set _land_start_index to first item with a position after the marker
...
_land_start_index is used to to start the mission from this item index, and to
avoid to publish a triplet.current.type=IDLE, we need to fill it with the actual
position setpoint that the vehicle should go to at the start of a mission landing.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-20 06:50:53 +01:00
fafcdbf4ed
tests: empty parentheses were disambiguated as a function declaration
2023-02-17 21:10:44 -05:00
8ebf47edb1
ekf2: stop mag fusion when there is no data anymore
2023-02-17 08:51:55 -05:00
deabe9a38d
Navigator: accept yaw immedietaly if the flag heading_good_for_control is not set
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-17 13:34:30 +01:00
d291207b9f
NuttX with mmcsd backports to prevent system hang on error
2023-02-17 10:16:15 +01:00
b00efcd966
cleanup
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
7ef2bff0a2
FeasibilityChecker: Fixed bug and added unit test for it
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
2e50277695
improved function naming
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
8ecb550331
cleanup
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
00b1968a5c
more clang tidy stuff
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
b8d0a8821a
fixed clang tidy
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
c09263d53c
use correct type
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
11fd3ef71a
use legacy parameter system and cleaned up vehicle type
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
741fbb931d
fixed land requirement for VTOL
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
6e07af959f
fixed bug in Matrix library
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
925ad97ff3
added unit tests
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
11143def82
tried to add functional unit test
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
ceb8f6e1d5
started with feasibility checks
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2023-02-16 11:28:41 +01:00
d6bb19e11b
drivers/linux_pwm_out: link mixer_module
2023-02-15 16:04:31 -05:00
0e1e1afcf9
Correct dates in the license headers
2023-02-15 01:37:32 +09:00
0b3f4dd385
Inject failure for airspeed sim
2023-02-15 01:37:32 +09:00
3f50bd051f
Optionally enable airspeed sensor sim
...
Enable and disable sensor sim module with parameter
2023-02-15 01:37:32 +09:00
192764387d
Update submodule mavlink to latest Tue Feb 14 12:38:55 UTC 2023
...
- mavlink in PX4/Firmware (e7a5dedf48f967465d1f9e6c96a9bf304e1a74b1): https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c
- Changes: https://github.com/mavlink/mavlink/compare/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914...2bdcab78b53d1e349079b43c9d726036abe0617c
2bdcab78 2023-02-09 Hamish Willee - undo last commit
9c60f17a 2023-02-09 Hamish Willee - param_id char[] description
841b7683 2023-02-08 Alessandro Ros - remove invalid enum reference from storm32.xml (#1947 )
8d4e50ee 2023-02-08 Julian Oes - scripts: install npm dependencies first
72a9b2c3 2023-02-08 Julian Oes - pymavlink: update submodule
2023-02-14 09:53:11 -05:00
db539d15bd
mavlink: fix bug when opening /dev/null as default stdin/stdout/stderr
...
Prior commit added opening of /dev/null as 0, 1 and/or 2 file
descriptors, if they where not present. However, if the temporary
file descriptor used to open /dev/null matched the target file
descriptor, it would be immediately closed again. This commit fixes that,
and does not duplicate and close the temporary file descriptor if it is
already at the correct number.
2023-02-14 08:18:01 +01:00
5880fe4153
remove deprecated check for CONFIG_STM32_STM32F4XXX in STM32F1 micro_hal.h
2023-02-14 08:08:24 +01:00
b3eb563db4
boards: cubepilot_cubeorange_test restore sd_bench (used on test rack)
2023-02-13 23:53:54 -05:00
5803f692b9
boards: update CubePilot+ test defconfig
...
This is tracking upstream changes and making it build.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-13 22:36:22 -05:00
01a9563955
cubeorangeplus: remove some modules to save flash
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Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-13 22:36:22 -05:00
9d8fa38793
cubeorange: remove some modules to save flash
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-13 22:36:22 -05:00
69cb1da3cc
workflows: add CubeOrange+ to CI build
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Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-13 22:36:22 -05:00
e5a957ae63
boards: arkv6x add pulldowns to GPIO pins UART7 RTS and UART7 CTS
2023-02-13 22:35:23 -05:00
2ea25804a1
ekf2: allow filter init with only IMU ( #21041 )
...
- if mag enabled heading init is now pushed to controlMagFusion()
2023-02-13 22:07:15 -05:00
d69d99b191
kakuteh7v2/mini: switch on VTX+
...
This just always switches the VTX+ power on.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-02-13 22:00:49 -05:00
3ed1c688bf
drivers: icm42688p and iim42652 enable notch and AAF
2023-02-13 21:08:37 -05:00
a18e07e525
drivers/imu/bosch/bmi088: add more time between configure and FIFO_READ
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- new FIFO_RESET state used to give the sensor more time after successful configuration before sampling begins
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2023-02-13 21:01:50 -05:00
1134d5338f
boards: sky-drones_smartap-airlink_default disable modules to save flash
2023-02-13 20:58:17 -05:00
4d95150e18
boards: px4_fmu-v4pro_test disable gyro_fft to save flash
2023-02-13 20:56:19 -05:00
299cb32aa8
boards: nxp_fmuk66-v3_test disable gyro_fft to save flash
2023-02-13 20:55:06 -05:00
bc5f4f8377
boards: mro ctrl-zero-h7 and pixracer disable modules to save flash
2023-02-13 20:53:52 -05:00
70a7edbcd0
boards: cubepilot_cubeorange_default disable SIH simulator to save flash
2023-02-13 20:47:26 -05:00
b14e0c21b6
boards: px4_fmu-v2_default disable sensors/vehicle_airspeed and sensors/vehicle_optical_flow to save flash
2023-02-13 20:45:28 -05:00
ea91dbb0f5
gazebo-classic_iris_vision: fix airframe include and default parameters
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-02-14 03:26:56 +09:00
3efc42cb14
Add standard vtol model
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Add standard vtol model sdf
2023-02-13 13:00:39 -05:00
65c287781f
Set prearm mode
2023-02-13 13:00:39 -05:00
df4083265f
Add standard vtol airframe configs
2023-02-13 13:00:39 -05:00
d5ddb44241
Add sensor airspeed sim
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This commit adds the airspeed sensor sim to simulate airspeed sensors
2023-02-13 13:00:39 -05:00
6f4d903f45
Battery: address two comments from #2242
...
- use a constant instead of magic number
- fix code comment typo
2023-02-13 13:27:08 +01:00
edb6c635d5
EKF2_MAG_TYPE - fix typos ( #20808 )
2023-02-10 14:39:57 +01:00
b9f9f25b48
parameter_translation: Add parameter translation for renamed L1 parameters
2023-02-09 17:51:55 +01:00
92277ebb96
FixedwingPositionControl: Explicitly set wind to zero when it is not valid.
2023-02-09 17:51:55 +01:00
de4b139540
FwPosControl: Update behavior of navigating to a waypoint when the previous waypoint is not valid. Go along the line of the current aircraft position to the desired waypoint.
2023-02-09 17:51:55 +01:00
d5025810b4
FixedWingPositionControl: remove get_nav_speed_2d function as npfg can handle this internally.
2023-02-09 17:51:55 +01:00
6bdeb43e0d
fw_path_navigation: Remove explicit L1 mentioning.
2023-02-09 17:51:55 +01:00
3e200bca0d
fw_pos_control_l1: renaming to fw_path_navigation, l1 control is not used anymore, use a more generic naming.
2023-02-09 17:51:55 +01:00
aa3af7f707
fw_pos_control: purge L1 controller
2023-02-09 17:51:55 +01:00
fbc80c9bf5
RTL fixes and improvements for VTOL vehicles ( #21011 )
...
* rtl: remove unconditional transition to land after descent
This was a bug, as it renders the above code lines useless.
This would cause a undesired FW landing for VTOL vehicles if
RTL_LAND_DELAY is above 0.
* rtl: head to center after loiter in VTOL FW
To get the same behavior for RTL with and without loiter before land for
VTOL drones.
* rtl: always go to descend state after return
Previously, the state would change directly to land if in MR and
RTL_LAND_DELAY was 0.0, but we will still wish to descent to
RTL_DESCEND_ALT at descent speed, instead of using landing speeds.
* rtl: mark head to center state as part of vtol transition
The next step in the sequence is transition to MC. By setting
vtol_back_transition we ensure that the acceptance radius is adapted to
the expected transition distance.
2023-02-08 11:07:39 +01:00
99cf1cfdfe
mavlink: use /dev/null as default stdin, stdout and stderr
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If 0, 1 and/or 2 file descriptors are not open when mavlink module
starts (as might be the case for USB auto-start), use default /dev/null
so that these numbers are not used by other other files.
2023-02-08 10:38:20 +01:00
6c7ae3d845
mavlink: generate new log list for request start index 0
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Instead of interpret a request for "more logs than currently exists" as
a new request, use a request for index 0, which is more likely to be
the first request.
2023-02-08 10:38:20 +01:00
c5d041a2f7
Rearrange npfg use path input ( #21071 )
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* [npfg]: Remove the guideToPoint function and replace with guideToPath
* [npfg]: remove unused navigateXXX functions
* [npfg]: Move navigateXXX Function into FWPoscontrol
* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
2023-02-08 08:54:00 +01:00
9ac27c9413
Update rtl_params.c
2023-02-07 22:37:19 -05:00
83c8c79af5
commander failsafe: add API to defer failsafes
2023-02-07 19:27:51 -05:00
a727bddc19
microdds_client: set queue depth for incoming topics according to msg definition
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Otherwise the FMU might miss publications from 2 different publishers at
the same time.
2023-02-07 19:12:10 -05:00
3f2336af32
navigator: add ModeCompleted signalling topic
2023-02-07 19:11:52 -05:00
f05e8a699e
ROMFS: enable COM_LOW_BAT_ACT by default for SITL
2023-02-07 19:11:29 -05:00
ebc1d7544e
battery_simulator: add support for failure injection
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For failsafe triggering in automated tests
2023-02-07 19:11:08 -05:00
ddd1527305
Qurt PX4_INFO_RAW send to apps for display ( #21080 )
2023-02-07 17:22:09 -05:00
db24c2b233
Qshell static subscription ( #21081 )
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* Changed QShell uorb subscription to be static to avoid the duplicate sequence number error
2023-02-07 17:18:01 -05:00
7b3befded5
ekf2: disable new gravity fusion by default
2023-02-07 13:57:10 -05:00
fa6fda6cce
ekf2: new gravity observation ( #21038 )
...
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com >
2023-02-07 13:28:58 -05:00
3e149ee6c5
FlightTaskAuto: landing position updates for precision landing ( #20951 )
...
- precision landing works incorrectly, target position is not updated during the descent above target
- _prepareLandSetpoints needs to update _land_position continuously
Co-authored-by: kapacheuski <kapacheuski@gmail.com >
2023-02-07 12:07:26 -05:00
deb6053d56
Update status leds every time when prearm check status changes
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-02-07 08:02:32 +01:00
ef5761c223
add SPI to stm32f1
2023-02-07 07:54:38 +01:00
2f21c590b0
remove some vscode settings
2023-02-06 17:25:36 -05:00
01c5b3934e
Tune GZ plane (rc_cessna) to fly nicely ( #21077 )
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* Increase control surface joint controller gains
* Enable prearm mode and disable airpspeed checks for gz plane
2023-02-06 16:24:01 -05:00
661eb2adb4
lib/sensor_calibration: BiasCorrectedSensorOffset() don't incorporate thermal offsets
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- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
2023-02-06 15:09:07 -05:00
e153d1defc
ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-04 16:08:40 +01:00
04d3e549f5
ekf2: resetQuatStateYaw() set _time_last_heading_fuse
2023-02-03 10:03:09 -05:00
66ad7fd06c
ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc)
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- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
- reset() more thoroughly reset fields (mainly impacts unit tests)
2023-02-03 10:00:51 -05:00
264a99fb77
ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism
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- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
2023-02-03 09:52:24 -05:00
f668ea5aa6
ekf2: RingBuffer add reset method
2023-02-03 08:49:44 -05:00
e3d73cd837
ekf2: mag control reset mag_lpf on first sample
2023-02-02 16:12:09 -05:00
c2f13dbccf
setup/ubuntu.sh modified to correctly install all required dependencies for gazebo
...
Signed-off-by: Michał Barciś <michal.barcis@tii.ae >
2023-02-02 10:02:47 -05:00
35080504f7
drivers/drv_sensor.h fix device type duplicate definition
2023-02-02 09:54:47 -05:00
a90bae9e50
ci: build and deploy kakuteh7v2 & Kakuteh7mini
...
Adds Holybro kakuteh7v2 & Kakuteh7mini to Travis CI for building and deployment to S3 for QGC
2023-02-02 09:51:53 -05:00
2938db1c60
Apply suggestions from code review
2023-02-02 15:20:34 +01:00
7cea384404
Update src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c
2023-02-02 15:20:34 +01:00
d65e5969e1
FW_AT_MAN_AUX - define what an Aux input is
2023-02-02 15:20:34 +01:00
ba1d02ee75
MPC: improve description of MPC_LAND_RC_HELP
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-02 14:31:22 +01:00
849fbabc47
px4_mtd: the address of 'instances' will never be NULL ( #21039 )
...
Signed-off-by: AuroraRAS <chplee@gmail.com >
2023-02-02 08:06:00 +01:00
d9a4d1d5c4
Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks
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Check fails if airspeed reading is above FW_AIRSPD_MAX.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 20:43:38 -05:00
cb4235887f
vscode: change cubeorange build target
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- Fixes typo in Cube Orange build target config
Fixes issue #17745
2023-02-01 18:17:45 -05:00
32cab66c44
Commander: hide hint to param in low position accuracy event for end users
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 16:47:11 +01:00
9b3a28dff5
Commander: add local_position_accuracy_low flag, incl. warning and RTL
...
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.
Set low accuracy threshold to 50m by default for FW and VTOL.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 16:47:11 +01:00
3ca126cc46
Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 16:47:11 +01:00
cbc4c35bcf
Commander params: improve meta data for max flight time and wind
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 08:48:09 +01:00
6d84da5cf1
Commander: add max flight time warning (starting at 90%)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 08:48:09 +01:00
b1709743f7
commander: add wind or flight time limit exceeded mode requirement
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This prevents switching into any of these modes once the condition is set.
2023-02-01 08:48:09 +01:00
a8628c9d9c
fix commander: clear takeoff_time only on disarm
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Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
2023-02-01 08:48:09 +01:00
8e4c5884ec
fix commander: need to check for valid mode change even if already the same
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Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
-> need to re-evaluate can_run
2023-02-01 08:48:09 +01:00
7988491e37
failsafe simulator: improve spacing for multi-line checkboxes
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Reduces line-height to 100% in that case.
2023-02-01 08:48:09 +01:00
931f602995
drivers/imu/invensense: new IAM-20680HP IMU driver ( #21025 )
2023-01-31 09:33:26 -05:00
2be701f902
platforms/nuttx: cmake debug pass GDB path and set RTOS plugin file extension
2023-01-30 20:19:38 -05:00
a4aa76f0ac
VOXL2 board updates and new Kconfig option for ROOTFSDIR
...
- also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot
2023-01-30 12:03:40 -05:00
b1fc0ca0d0
mavlink: always forward messages to/from USB
...
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.
With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-30 10:46:14 -05:00
0446292c75
mavlink: always use public method
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-30 10:46:14 -05:00
7b8cf4913e
mavlink: show forwarding status
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-30 10:46:14 -05:00
47215bb625
lib/wind_estimator: symforce codegen remove reserved identifier naming
...
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
2023-01-30 09:24:32 -05:00
efe1d43550
ekf2: symforce codegen remove reserved identifier naming
...
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
2023-01-30 09:24:32 -05:00
0687fd2689
lockstep_scheduler: avoid pthread_cond_destroy on at_exit
...
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.
According to https://linux.die.net/man/3/pthread_cond_destroy :
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
2023-01-30 11:45:02 +01:00
f25abbc80a
Fix magnetometer typo
2023-01-30 10:24:16 +01:00
8da993c30e
Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023
...
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-01-28 11:41:03 -05:00
88038717dc
update all px4board kconfig
2023-01-28 11:39:51 -05:00
4646762f9d
Use multiplication instead of division
2023-01-28 10:31:17 -05:00
0c735dea2e
AirspeedSelector: use scientific notation for small param
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-28 10:31:17 -05:00
d32f400851
WindEstimator: use isAllFinite()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-28 10:31:17 -05:00
a6d14796e4
WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-28 10:31:17 -05:00
15335b194a
WindEstimator: use state indexing enum consistently
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-28 10:31:17 -05:00
21ddb04856
Update submodule mavlink to latest Sat Jan 28 00:39:00 UTC 2023
...
- mavlink in PX4/Firmware (fa65292bb7542cb1f2a4cdaac10738fa17777a6d): https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
- Changes: https://github.com/mavlink/mavlink/compare/74dee05f0cd121ae27e021d011a04b161c9d0440...e3b8756e37cd2cd01ba658461bb4dbffb2fdf914
e3b8756e 2023-01-25 olliw42 - update storm32.xml (#1941 )
2023-01-27 21:14:07 -05:00
48f2b42e12
FWPositionController: remove factor of 2 for switching to LOITER if altitude is not reached
...
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-27 16:51:30 +03:00
e862fde084
ver: use PX4_INFO_RAW and add vendor version ( #21008 )
2023-01-27 07:13:37 +01:00
d53d200aa5
Update msg/TecsStatus.msg
...
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com >
2023-01-26 17:04:43 +01:00
88ec117e59
TECS: rename tecs_status.altitude_filtered to altitude_sp_ref
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
06f4195663
PositionControllerStatus.msg: add comments
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
fc1c5da92c
tecs_status.msg: add comments to states
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
5099a91f87
TECS: keep _pitch_integ_state in radians
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
e16f98c2b6
FW Position controller: remove unused climbout arguments
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
aae431e4d5
Removed unused variables in LED driver that were causing fatal build errors on Qurt platform ( #21007 )
2023-01-25 16:35:56 -08:00
d6d41af9a4
Update submodule nuttx to latest Wed Jan 25 12:38:18 UTC 2023
...
- nuttx in PX4/Firmware (d3b7112dd9https://github.com/PX4/NuttX/commit/f80785664fcd99e36835dcb7e9b9b97cd5e9cf8d
- nuttx current upstream: https://github.com/PX4/NuttX/commit/35997053c5f61039e542c01440feb10baba5049d
- Changes: https://github.com/PX4/NuttX/compare/f80785664fcd99e36835dcb7e9b9b97cd5e9cf8d...35997053c5f61039e542c01440feb10baba5049d
35997053c5 2023-01-23 David Sidrane - [BACKPORT] s32k1xx:serial Do not use TC use TDRE & TIE
2023-01-25 14:48:22 -05:00
cc5509381a
boards: update all NuttX defconfigs
2023-01-25 14:47:48 -05:00
03f681ebf8
update all px4board kconfig
2023-01-25 12:57:17 -05:00
a210c96aa9
Commander: ssimplify error messages for LOITER rejection
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-25 16:40:27 +01:00
148ffe4e25
add support for DO_CHANGE_ALTITUDE
...
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-25 16:40:27 +01:00
0bdec5bcc0
cmake: nuttx fix jlink-nuttx dependency
2023-01-25 09:06:35 -05:00
d3b7112dd9
[TECS]: If in airspeedless mode, add the throttle integrator term to the throttle setpoint, if the integrator term is positive. This should avoid reducing airspeed when switching to airspeedless mode. ( #20987 )
2023-01-25 09:16:11 +01:00
20b7a8c9f6
drivers/actuators/modalai_esc --> modal_io and rename UART_ESC prefix to MODAL_IO ( #20995 )
2023-01-24 20:24:58 -05:00
60de5b3ea4
simulation/gz_bridge: remove proceeding px4_ from servos in gazebo model ( #20998 )
...
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
2023-01-24 19:56:11 -05:00
684b4a4b8a
simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed ( #20989 )
...
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-01-24 19:01:45 -05:00
fbd2e111d0
boards/modalai/fc-v1: revert DMA changes on FCv1 for now (from #20956 )
2023-01-24 14:50:05 -05:00
0776c47d88
Enable ARK CANnode pwm outputs 7 and 8
2023-01-24 14:49:21 -05:00
ac7dc030c3
Add ARK CANnode ver command
2023-01-24 14:49:21 -05:00
64c2ec5eea
simulation/gz_bridge: remove cmake CONFIGURE_DEPENDS
...
- PX4 build system simulation targets are optional and no longer
strictly required
2023-01-24 13:58:30 -05:00
9cb6de8010
simulation: relax jmavsim java requirements (finding vecmath.jar)
2023-01-24 13:56:24 -05:00
3b543c7700
mavlink: serialize mavlink generation to prevent broken output
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- let uAvionix generation fully complete before generating CONFIG_MAVLINK_DIALECT
2023-01-24 13:49:28 -05:00
644aeb9153
support fixed-wing in new Gazebo (gz or ignition gazebo) ( #20939 )
...
* Add gz plane airframe config
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
2023-01-24 09:22:53 -05:00
c31867f104
support for KakuteH7v2, KakuteH7mini, and BMI270 IMU driver ( #20545 )
...
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-22 19:41:39 -05:00
7c9dcd1985
drivers/uavcan: silence noisy libuavcan cmake version deprecation warning for now
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- keep drivers/uavcannode cmake in sync with drivers/uavcan
2023-01-22 14:48:43 -05:00
1b46028fd3
mavlink: generate mavlink quiet by default (stdout redirected to log file)
2023-01-22 14:45:41 -05:00
6e30f8f5cb
ekf2: use dedicated aid_src message for flow for terrain aiding
2023-01-21 15:31:19 -05:00
b4b48cae75
ekf2: terrain flow - migrate to Symforce
2023-01-21 15:31:19 -05:00
3f842f01a0
simulator/gz_bridge: split actuator outputs for ESCs and servos ( #20979 )
...
- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
- new SIM_GZ_SV for servos (not fully implemented)
2023-01-21 14:44:09 -05:00
9ac6b3d3c5
Update current year in LICENSE
...
Update year to match with the current year 2023 in LICENSE file.
2023-01-21 12:57:27 -05:00
c0e8508b01
actuators/modalai_esc/modalai_esc: fix ESC ID to Motor remap regression ( #20977 )
2023-01-21 12:57:02 -05:00
a93ef657d1
HIL/test_airframes.sh allow 'gps' and 'mavlink' status to fail
...
- we're only looking for debug info if/when things go wrong later
2023-01-21 11:38:39 -05:00
fb000e874f
boards: px4_fmu-v5_debug quiet RTC debug errors
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- test rack CUAV v5 plus is producing false positives (in this particular situation) that are failing the overall testing
2023-01-21 11:14:28 -05:00
6b13fb8b86
HIL/test_airframes.sh check mavlink and gps status before stopping all
...
- occasionally these fail on the test rack (cube orange), so try to
gather more information
2023-01-21 11:06:23 -05:00
1830195d30
boards: px4_fmu-v6x add pulldowns to GPIO pins UART7 RTS and UART7 CTS ( #20974 )
...
- https://github.com/PX4/PX4-Autopilot/issues/20762
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com >
2023-01-21 10:19:57 -05:00
1aa8ec4537
drivers: initial VectorNav (VN-100, VN-200, VN-300) support
2023-01-20 19:09:30 -05:00
bd9d09663f
commander: avoid uint64 timestamp implicit float conversions
...
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
- fixes https://github.com/PX4/PX4-Autopilot/issues/20944
2023-01-19 17:48:40 -05:00
3822ef1519
boards: update all in tree bootloaders
2023-01-19 17:25:39 -05:00
c4127813b3
Update submodule sitl_gazebo-classic to latest Thu Jan 19 12:38:59 UTC 2023
...
- sitl_gazebo-classic in PX4/Firmware (f3cdf70732https://github.com/PX4/PX4-SITL_gazebo-classic/commit/1a725dd858a3a7c15e79e8e40aa91f4fad9128e5
- sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/9343aaf4e275db48fce02dd25c5bd8273c2d583a
- Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/1a725dd858a3a7c15e79e8e40aa91f4fad9128e5...9343aaf4e275db48fce02dd25c5bd8273c2d583a
9343aaf 2023-01-15 JaeyoungLim - Fix model prefix for user camera plugin (#948 )
e5836d3 2023-01-13 Simone - Added robot namespace to the model (#941 )
2023-01-19 12:33:53 -05:00
d2240c0c48
Update submodule nuttx to latest Thu Jan 19 12:39:05 UTC 2023
...
- nuttx in PX4/Firmware (0e2eed62f9a9b44cefc9765fd21aac1a368e4314): https://github.com/PX4/NuttX/commit/d43edd7879fb398de9abcc9d58e8a65c9ed254db
- nuttx current upstream: https://github.com/PX4/NuttX/commit/f80785664fcd99e36835dcb7e9b9b97cd5e9cf8d
- Changes: https://github.com/PX4/NuttX/compare/d43edd7879fb398de9abcc9d58e8a65c9ed254db...f80785664fcd99e36835dcb7e9b9b97cd5e9cf8d
f80785664f 2023-01-16 Julian Oes - [FIX] Add missing define condition
1751c2c7cb 2023-01-16 Julian Oes - [BACKPORT] stm32h7: add SMPS PWR option for STM32H7X7
2023-01-19 12:33:27 -05:00
8d6a336b2c
boards: update all NuttX defconfigs
2023-01-19 12:32:57 -05:00
898dbb96b4
update all px4board kconfig
2023-01-19 12:32:09 -05:00
f3cdf70732
VTOL: Quad-chute: rework loss of altitude condition
...
Previously the condition was based on hard coded height rate estimate and
setpoint values and an altitude error threshold. That showed to be leading
to false positives when the vehicle doesn't tightly follow the altitdue
ramp given by TECS to achieve a new altitude setpoint, and has become
completely infeasibly with the latest TECS rework that leads to non-ramped
altitude setpoint changes in the tecs_status message.
The new check no longer checks the altitude error but only the height rate
instead. It begins to integrate the height rate error once it detects an
uncommanded descend condition (height rate negative while setpoint is
positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-19 09:36:09 +01:00
36dc75bedf
VTOL: introduce new quad-chute check for altitude loss during front transition
...
By default the threshold is set to 10m.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-19 09:36:09 +01:00
98705ced2f
lightware_laser_i2c: fix unreliable startup detection
...
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
2023-01-18 23:02:56 -05:00
05d828642d
boards/modalai: FCv1 DMA optimiziation for 2Mbit UART ( #20956 )
...
- disable unused SPI3 DMA
- enable USART2 RX/TX, UART5/6 TX, UART4 RX
2023-01-18 23:01:57 -05:00
9d7c4b8273
boards: ark_can-flow_default disable sensors/vehicle_acceleration to save flash
2023-01-18 22:58:19 -05:00
ffa9d61065
boards: px4_sitl_default include gz_bridge by default
2023-01-18 22:56:17 -05:00
2b5722786b
cmake: fix and update packaging
2023-01-18 22:51:12 -05:00
5eb13e4448
ARKV6X bootloader init all pwm outputs as input pulldown
2023-01-18 21:52:11 -05:00
7c2da8d1ef
Enable ARKV6X SPIX SYNC, enable icm426889 and iim42652 CLKIN
2023-01-18 21:52:11 -05:00
967c37ac17
boards: mro_pixracerpro_default disable examples/fake_gps to save flash
2023-01-18 21:44:09 -05:00
6a64e74ef3
icm42688p: fix register bank selection
...
* icm42688p: clear INT_CONFIG1 INT_ASYNC_RESET for proper INT1/INT2 pin operation
2023-01-18 11:08:03 -05:00
95300d5637
ekf2: refactor output predictor to class
...
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
2023-01-18 10:59:34 -05:00
c054ca20cc
logger: Add arm to shutdown
2023-01-18 07:47:36 +01:00
35d6b734f5
perf: avoid leaks in dtor
...
From what address sanitizer tells me, we need to tell delete what type
it is deleting.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-17 21:20:51 -05:00
8123090571
boards: modalai FCv2 BSP updates ( #20958 )
...
- FCv2 MR1
- configure TELEM2 for VOXL use case by default
- use ICP201XX baro by default
2023-01-17 21:20:16 -05:00
1c63d5666b
boards: add support for CubeOrange+ ( #20304 )
...
Co-authored-by: Julian Oes <julian@oes.ch >
2023-01-17 20:55:57 -05:00
71d916dbcd
ekf2: PreFlightChecker fix vel_ne_innov_lpf index
2023-01-17 13:03:38 -05:00
6f718cd48d
drivers/actuators/modalai_esc: update to use mixer module and control allocator properly
...
- update motor mapping to use new UART_ESC_FUNC* auto generated params
- add support for actuator_test msg to support Actuator Testing in QGC
- modalai_fc-vX targets start driver if configured
- keep track of ESC spin direction in own param
- set ramp up param in MixerOutput to false
2023-01-16 21:46:37 -05:00
2a64145dcd
microdds_client: add _subs reset method to allow reconnections
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-01-16 21:43:49 -05:00
00bfd5436a
ekf2: increase optical flow preflight check innovation limit ( #20940 )
2023-01-15 17:52:12 -05:00
6991ac014c
rename 'gazebo' simulation to 'gazebo-classic' ( #20936 )
...
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
- additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
- use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
2023-01-15 11:36:12 -05:00
6605378d0d
boards: px4_fmu-v6c_default disable systemcmds/serial_test to save flash
2023-01-14 19:24:47 -05:00
30a240a7a4
boards: modalai_fc-v2_default disable examples/fake_gps to save flash
2023-01-14 19:23:19 -05:00
52b9b9ba2f
simulation: restore 'gazebo' alias for 'gazebo_iris'
...
- only create helper targets if Gazebo 11 found on system
2023-01-14 17:03:18 -05:00
82ecbccd85
distance_sensor: Add TF02 Pro I2C
2023-01-14 09:28:33 -05:00
2985b5b9c2
msg/ActuatorTest.msg: Use default queue size the same as MAX_NUM_MOTORS
...
For the esc_calibration code, the actuator test is published for each motor
in a row. If the orb queue size is too small, messages are lost and not
received in mixer_module.
Set the default orb queue size of ActuatorTest high enough to keep the commands
for all motors in the queue.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2023-01-14 09:19:10 -05:00
45912066d2
fix copyright header year range
2023-01-14 09:16:16 -05:00
674a59e48f
ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM
...
- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
2023-01-14 09:15:46 -05:00
22f7d913bd
rover_pos_control: thrust normalization for joystick input ( #20885 )
2023-01-13 20:11:39 -05:00
7d92d4893e
VSCode C/C++ include path and config hints
2023-01-13 20:03:53 -05:00
c97381c97f
mavlink: streams SCALED_IMU fix gyro dt
2023-01-13 20:01:41 -05:00
5942194c66
iridiumsbd: advertise status topic immediately and log by default
2023-01-13 20:01:03 -05:00
ac80dcd7a8
Voxl2: add qurt i2c driver support and first i2c driver voxlpm
2023-01-13 19:59:41 -05:00
1e93ae3148
jsbsim: take FG_BINARY env var into account
...
This is just to match the docs.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-13 17:07:20 -05:00
7c766692c4
FW Att and Rate Controller, Tailsitter: fix tailsitter frame transformations
...
Strictly follow the following convention for tailsitter:
FW Attitude and FW rate controller always operate in the FW frame, meaning that roll is
roll in FW, which for tailsitter means around the yaw axis in the body frame. The interfaces
between modules is though always in body frame.
That enables us to do the axis transformations for tailsitter, that are currently distributed
all over the controller (attitude, rate, vtol module), only at the input and output data of modules.
Side effect is that the FW rate control tuning gains meanings change: while before the roll gains
where meant for the body axis, they are now always applied for the FW roll axis (also in hover). So
the naming now is correct for FW, while before it was for Hover.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 18:18:11 +01:00
edb59a9000
VTOL: improve QC parameter meta data
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
544be72503
VTOL: improve messaging for quad-chute triggered error messages
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
623c1418bb
Commander: improve messaging for vtol fixed-wing system failure arming check
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
303b879748
VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
2d4be68e00
VTOL: reset quad-chute failsafe flag when user triggeres a new transition to FW
...
This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
8a680a3153
VTOL: fix quad-chute max altitude limit
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
3d50a7ce44
CAL_MAG_SIDES: do not save with factory cal
2023-01-13 10:48:01 -05:00
3d73e273e6
MAG_SIDES: don't spam user to not change parameter
...
otherwise this will always show up on every boot if factory calibration
was done in an earlier release
2023-01-13 10:48:01 -05:00
0099523710
v6x: fix IMU rotations for V6X009010 and V6X010010 ( #20901 )
...
And add V6X000010 (pixhawk base board)
2023-01-13 14:09:35 +01:00
ced41febb7
hide legacy read-only parameter under Developer category
2023-01-13 11:40:56 +01:00
a7c03de434
StickAccelerationXY: apply jerk limit after drag
2023-01-13 10:19:43 +01:00
2a315f86ca
Qurt specific drivers for testing and some updates to the startup process ( #20917 )
...
* Added a couple of Qurt specific drivers for testing and some updates to Qurt startup code
2023-01-12 20:17:30 -05:00
767fcb2774
sensors: prefix mag config param SENS instead of CAL ( #20723 )
...
* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC
2023-01-12 09:42:36 -05:00
635daeed8a
NuttX push jlink-nuttx into cmake and enable CONFIG_DEBUG_TCBINFO by default
2023-01-12 09:05:26 -05:00
5453630a6d
Jenkins: hardware test rack ignore irrelevant sensor timeouts
2023-01-11 16:56:19 -05:00
8b5f35b3fe
Add S32K3 vscode support add Jlink rtos vscode support
2023-01-11 16:15:13 -05:00
16d6e699bb
Update sitl_gazebo submodule
2023-01-11 14:39:05 -05:00
0f9bc351f1
ekf2: fix global_pos alt_reset_counter publish ( #20906 )
...
- fixes #20900
2023-01-11 14:15:07 -05:00
714b3d82fb
thepeach: update px4board kconfig to fix missing fw_rate_control module ( #20898 )
2023-01-11 10:02:46 -05:00
89180ac0f9
Fixed Kconfig and px4board files for voxl2
2023-01-11 09:53:18 -05:00
72d36fc874
sensors: Add param for VL53L0X to startup
...
It turns out there was no param to enable starting the VL53L0X at
startup.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-11 09:52:27 -05:00
c6239ce8c2
replay: fix replay msg ids larger than 128 ( #20865 )
2023-01-11 09:13:53 -05:00
bc9abf8c36
Commander: always update parameters, not just if disarmed
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-11 10:01:08 +01:00
e19c7ca18b
Add reboot command to ark flow
2023-01-11 08:11:18 +01:00
af336719e6
gz_bridge: fix world selector environment variable
...
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-01-08 00:15:35 -05:00
e6c4416250
update all px4board kconfig
2023-01-07 21:53:01 -05:00
618288cca9
SITL Gazebo classic make airframes simulator specific
2023-01-07 17:00:35 -05:00
97c8a60d67
SITL gz make airframes simulator specific
2023-01-07 17:00:35 -05:00
ae4cb24100
SITL flightgear make airframes simulator specific
2023-01-07 17:00:35 -05:00
1abe35c220
SITL jsbsim make airframes simulator specific
2023-01-07 17:00:35 -05:00
75125da34c
SITL sihsim make airframes simulator specific
2023-01-07 17:00:35 -05:00
95a6eba36c
SITL jmavsim make airframes simulator specific
...
-cleanup and simplify jmavsim SITL launch and debug
2023-01-07 17:00:35 -05:00
760fff7d89
Kconfig: fix missing SERIAL_EXT2 (fmu-v5x/v6x)
2023-01-07 12:10:52 -05:00
dc5ce9b0ce
boards: NuttX increase default CONFIG_ARCH_INTERRUPTSTACK 512->768 bytes
...
- during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort
- increasing by 50% to be conservative
2023-01-07 12:07:35 -05:00
7f7dfea998
drivers/imu/analog_devices: experimental support for new ADIS16507 IMU (untested)
2023-01-07 10:56:30 -05:00
f520d4b3be
Update submodule mavlink to latest Sat Jan 7 12:38:21 UTC 2023
...
- mavlink in PX4/Firmware (8bc88ed526044a864427a4b65135c3baffabb2ef): https://github.com/mavlink/mavlink/commit/0c7792edfeee7cf08e531cb4ce5b4f01854e5724
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440
- Changes: https://github.com/mavlink/mavlink/compare/0c7792edfeee7cf08e531cb4ce5b4f01854e5724...74dee05f0cd121ae27e021d011a04b161c9d0440
74dee05f 2023-01-04 Beat Küng - component_metadata: add translation schema (#1934 )
0267c4cf 2023-01-04 Bob Long - common.xml: add fuel_pressure ext. to EFI_STATUS (#1938 )
c64818e8 2023-01-04 Mathieu Mirmont - common.xml: fix typos in AIS_TYPE enumerate (#1939 )
2306bf79 2023-01-04 Hamish Willee - Update pymavlink (#1940 )
0077129b 2022-10-06 Peter Hall - Development: update airspeed message
fbf84c64 2022-10-05 Peter Hall - gitignore: add /.vscode
817c44d8 2022-12-15 Mathieu Mirmont - Add the MAV_TYPE_VTOL_TILTWING aircraft type (#1933 )
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-01-07 10:55:05 -05:00
243caac44a
mavlink: filter command_acks by target
...
When we receive a command_long or command_int message to
answer, it arrives with a source sysid/compid, so this means we can send
the command_ack back on the appropriate MAVLink instances instead of all
of them.
This commit filters outgoing command_ack messages, so they are only sent
on the MAVLink instances where the sysid/compid has been seen in the
past.
This means that a command_ack is likely still sent on multiple links for
a setup with redundant links.
This should also prevent command_acks from being blasted on Iridium links
when it's not required.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-07 10:39:08 -05:00
19cee04f3a
ubuntu.sh: always install "Gazebo" next to "Gazebo classic" on 22.04
2023-01-07 10:37:02 -05:00
91e97eded9
setup ubuntu.sh; fix legacy gazebo for ubuntu22.04
2023-01-07 10:37:02 -05:00
d821404e4f
commander: failsafe define enums for actions ( #20880 )
2023-01-07 10:10:57 -05:00
49f8bcfc69
ekf2: purge old ekf2 derivation
2023-01-06 18:35:19 -05:00
d1b95a21e4
Fixes MR-CANHUBK3 FMU build and adds it to the CI targets
2023-01-06 18:02:45 -05:00
1551e2f15c
MIS_TKO_LAND_REQ - improve English for value 4
2023-01-06 09:43:16 +01:00
7e3dcd7be4
sensors: fix overlapping ifdef
...
This fixes the case where vehicle_angular_rate is no longer started when
airspeed is not enabled.
Signed-off-by: Julian Oes <julian@oes.ch >
2023-01-05 21:09:14 -05:00
26122886ae
ekf2: drag fusion - improve parameter description
...
The user should refer to the online documentation for tuning guidelines
and not the parameter description.
2023-01-05 12:03:24 -05:00
06ef39d05e
ekf2: MC drag fusion - interpolate between X an Y "b" coefficients
...
Use the current sideslip angle to generate a drag coefficient that is a
mixture of X and Y coefficients, creating an elliptic distribution.
2023-01-05 12:03:24 -05:00
420f5ef2b7
ekf2: migrate drag fusion derivation to SymForce
2023-01-05 12:03:24 -05:00
04f76c932e
ekf2: decompose drag vector into x-y components
...
The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
2023-01-05 12:03:24 -05:00
1a9c358858
ekf2: Add unit tests for drag fusion
2023-01-05 12:03:24 -05:00
0509f612dd
ekf2: fix drag data downsampling
...
setDragData needs the imu data at full speed to downsample it without
skipping samples.
2023-01-05 12:03:24 -05:00
34c57cc5b5
px4-rc.simulator shellcheck fixes
2023-01-04 17:35:41 -05:00
14bf04b9a4
SIH: add to px4_fmu-v5_default and auto start GPS sim driver
...
- add simulator kconfig dependencies
- exclude SIH (+deps) where sufficient flash isn't available
2023-01-04 16:26:15 -05:00
fa87375d0c
Add hardfault log progmem flash backend
2023-01-04 12:52:01 -05:00
ca9ae80b10
px4-rc.simulator support launching new Gazebo Garden vs Fortress ( #20864 )
...
- "ign gazebo" command is now "gz sim" as of Gazebo Garden
2023-01-04 12:39:06 -05:00
21e88f64b4
Add new fixed wing rate control module (fw_rate_control)
...
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-04 11:14:00 -05:00
4c2c06060d
PX4Board kconfig add dependency chain for QURT & POSIX modules
2023-01-04 09:40:17 -05:00
ddaa3c24eb
Fix MR-CANHUBK3
2023-01-04 05:52:58 -05:00
315c075e5c
updating the sitl-gazebo-sniffer to allow a vehicle name in the serialized object
2023-01-03 17:00:48 +01:00
28d664aed5
EKF2: purge outdated matlab scripts
...
Those files are no longer maintained and will just confuse new users
2022-12-30 13:01:58 -05:00
cc1b043e18
cmake/kconfig.cmake: fix whitespace
2022-12-30 13:01:30 -05:00
618ce9a865
[AUTO COMMIT] update change indication
2022-12-29 16:37:34 -05:00
20a1c73cf0
ekf2: reinit baro height on sensor or calibration change
...
- handle reset on delayed time horizon
2022-12-29 16:37:34 -05:00
0e2df5a152
remove drivers/pca9685
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-12-29 12:57:41 -05:00
348dcf11c8
remove examples/hwtest
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-12-29 12:57:11 -05:00
3e4e5c991c
ekf2: add mag unit tests
2022-12-29 12:56:36 -05:00
657bd6cf72
ekf2: stop mag fusion when inhibited for too long
...
Also do not try to run anything if mag is inhibited
2022-12-29 12:56:36 -05:00
c75a9058a5
EKF2: only fuse zero innovation if yaw var is large
2022-12-29 12:56:36 -05:00
40e3503c39
boards: fix all NuttX configs (CONFIG_SMALL NuttX upgrade migration)
2022-12-29 12:50:37 -05:00
0fbb6db6d4
boards: update all NuttX defconfig (make all_olddefconfig)
2022-12-29 12:50:37 -05:00
c2f15f5957
boards: update all px4boards (make all_px4_savedefconfig)
2022-12-29 12:50:37 -05:00
0204a55354
Makefile: add all_olddefconfig and all_px4_savedefconfig helpers for updating all boards
2022-12-29 12:50:37 -05:00
f37eb55e19
platforms/nuttx: FATAL error if NSH enabled and SET disabled
2022-12-29 12:50:37 -05:00
964e9dd8c4
Fix MRO NuttX defconfig
2022-12-28 17:00:58 -05:00
f7c183edd3
Update NuttX kernel for K3 changes
2022-12-28 10:21:58 -05:00
5e3165af70
S32K3 Enable dflash progmem
2022-12-28 10:21:58 -05:00
2fde13c07d
S32K3 EMAC TJA1103 Support
2022-12-28 10:21:58 -05:00
2f1a165d85
S32K3 Enable IRQ stack
2022-12-28 10:21:58 -05:00
c3174b5dec
Tools/setup/ubuntu.sh: Fixes install for 22.04 gazebo ( #20833 )
...
Fixes ubuntu installation script for 22.04 to only install gazebo.
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
2022-12-28 10:16:43 -05:00
beabe56253
S32K3XX call functional reset on board_reset
2022-12-27 08:33:24 -05:00
98529a5b49
Battery: delay initialization of SoC ( #20729 )
...
* Battery: delay initialization of SoC
* battery: rework of battery initialization delay
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2022-12-26 18:44:22 +01:00
54d825730e
Update submodule libcanard to latest Sat Dec 24 00:39:03 UTC 2022
...
- libcanard in PX4/Firmware (280ef8935565d4a13e0780c926e1707fa5a90118): https://github.com/opencyphal/libcanard/commit/2e3b11f6b8325080c160d38521b169b0bbb6b1c7
- libcanard current upstream: https://github.com/opencyphal/libcanard/commit/5c69d451ab0787a81dcb615692d707f2a286f5e5
- Changes: https://github.com/opencyphal/libcanard/compare/2e3b11f6b8325080c160d38521b169b0bbb6b1c7...5c69d451ab0787a81dcb615692d707f2a286f5e5
5c69d45 2022-11-03 John Vishnefske - Add sanitizers to unit test cmake build (#205 )
989124d 2022-10-30 Pavel Kirienko - Fix 203 (#204 )
f85103b 2022-10-13 joshvazquez-amzn - Fix warnings in test helpers (#202 )
2022-12-23 22:36:09 -05:00
b6eb5ba790
Update submodule sitl_gazebo to latest Sat Dec 24 00:39:01 UTC 2022
...
- sitl_gazebo in PX4/Firmware (bb591c6c29https://github.com/PX4/PX4-SITL_gazebo/commit/049b667d5e86fa71bd47c41dd10e911a0e2681b0
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/d44ce17f4368ab961f87fcc59845647fb629033f
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/049b667d5e86fa71bd47c41dd10e911a0e2681b0...d44ce17f4368ab961f87fcc59845647fb629033f
d44ce17 2022-12-19 Frederic Taillandier - fixing macos test build (#935 )
7f9239c 2022-12-19 Daniel Mesham - Add safe landing world (#932 )
61b1fc1 2022-12-19 Daniel Mesham - Update depth camera to match the RealSense D455 (#933 )
2022-12-23 22:34:32 -05:00
bb591c6c29
mavlink_shell: fix stall on CubeOrange
...
On CubeOrange where no console is configured by default, starting
MAVLink shell just stalls, and doesn't work.
Also, logfile download has been reported not to work, and again, seems
to work with this change.
Signed-off-by: Julian Oes <julian@oes.ch >
2022-12-23 11:00:20 -05:00
86a3d2459a
ekf2: remove old yaw estimator generated code
2022-12-23 10:28:19 -05:00
0388c161e7
ekf2: compare yaw estimator sympy vs symforce
2022-12-23 10:28:19 -05:00
7c33019510
EKF2: move yaw estimator to symforce
2022-12-23 10:28:19 -05:00
2f1b3142a6
Decrease PAW3902 and PAA3905 backup schedule to 200ms
2022-12-22 20:46:19 -05:00
c3e70b03aa
Add more to Voxl2 build and fix associated build errors ( #20821 )
...
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
- Replace non-standard M_PI constants with PX4 defined M_PI_F constants
- Include missing header file for function hrt_absolute_time declaration
- Add new PX4_SOC_ARCH_ID for the VOXL2 board
2022-12-22 15:44:19 -05:00
35a9dba6e6
Enable ARKV6X heater
2022-12-22 15:12:32 -05:00
03c0808ae6
vscode/settings.json: add .sdf and Jenkinsfile associations
2022-12-21 16:46:25 -05:00
aff3f2e77f
boards: disable gyro fft module for v5 and v5x to safe flash
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-12-21 10:17:59 -05:00
f2cd7667dc
systemcmds/bsondump: new command line utility (extracted from parameters)
2022-12-21 10:14:00 -05:00
f5524fa605
TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter.
2022-12-21 09:04:19 +01:00
08c36612b3
TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled.
2022-12-21 09:04:19 +01:00
77539d4dac
TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint.
2022-12-21 09:04:19 +01:00
8c6dfc840b
TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step.
2022-12-21 09:04:19 +01:00
7a3e0f53c2
TECS: Replaced old tecs by cleaned up version.
2022-12-21 09:04:19 +01:00
991689d3cd
TECS: Add new tecs library in parallel to old tecs in the position control library for comparison.
2022-12-21 09:04:19 +01:00
c64e111d8e
TECS: Rearranged the TECS library into submodules.
2022-12-21 09:04:19 +01:00
54a32eb2f7
ekf2: EV overhaul yaw and position fusion ( #20501 )
...
- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
2022-12-20 10:23:56 -05:00
20342216e2
Airspeed Selector: use better density source and only save scale parameter if valid ( #20764 )
...
* AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS
Previously the vehicle_air_data.temperature and pressure was used, instead of the
density field directly.
Only makes a difference if there is an airspeed sensor connected to provide
the air temperature.
* AirspeedSelector: only safe estimated scale in param if airspeed is valid
* AirspeedSelector: remove 0.01 cliff for saving learned scale to param
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-12-20 15:52:54 +01:00
efbb2cf2e3
nxp_ucans32k146:Add LPSPI DMA
...
nxp_ucans32k146:Add Dready
2022-12-20 09:31:05 -05:00
b7ea31ceed
s32k1xx:Add gpiosetevent
2022-12-20 09:31:05 -05:00
da536b3a82
nxp_ucans32k146:Add PROBEs for debugging
2022-12-20 09:29:07 -05:00
e8aa54e7bb
nxp_ucans32k146:Use GPIO based RTS (Buffer not character)
2022-12-20 09:29:07 -05:00
fe7d761a11
nxp_ucans32k146:Use serial DMA
2022-12-20 09:29:07 -05:00
39822ef5a1
nxp_mr-canhubk:lpuart0 use Serial HW flow control
2022-12-20 09:27:40 -05:00
6a7f5a339b
nxp_mr-canhubk3:fmu use Serial DMA
2022-12-20 09:27:40 -05:00
022e941ebe
NuttX with s32k3 Serial DMA
2022-12-20 09:27:40 -05:00
52275923ad
adsb: add support for callsign
2022-12-20 08:18:09 +01:00
678607117a
Qurt UART ESC driver support ( #20784 )
2022-12-20 01:25:12 -05:00
da7d52e302
Update submodule libevents to latest Tue Dec 20 00:39:10 UTC 2022
...
- libevents in PX4/Firmware (26f3fea7ebb328ef58d4d592dae0559c91f13c1c): https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677
- libevents current upstream: https://github.com/mavlink/libevents/commit/8d9c5551273a52e22253ea6abf28d9e4b05e0ab7
- Changes: https://github.com/mavlink/libevents/compare/0c8bc543db2f8c78f59214d5bcf959bdadd96677...8d9c5551273a52e22253ea6abf28d9e4b05e0ab7
8d9c555 2022-12-13 Beat Küng - README: clarify use of component ID
2022-12-20 01:24:15 -05:00
b8e07cc52c
Fix Ethernet Socket Defaults
2022-12-19 13:24:55 -05:00
9c66f1b14a
AirspeedValidator: Remvoe airspeed variance after boot check ( #20678 )
...
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 >
2022-12-19 11:36:48 +01:00
df441ac202
drivers/gps: add param for enabling protocols at i2c interface
2022-12-19 08:52:36 +01:00
e5255b173a
v6x: use param SENS_INT_BARO_EN to start internal bmp388
2022-12-19 08:50:31 +01:00
987de56af2
v6x: rev10 has second PM
2022-12-19 08:50:31 +01:00
09039faf0a
v6x: change bootloader UART7 to UART5
2022-12-19 08:50:31 +01:00
b0580d88e1
Added muorb aggregator from DSP to Apps direction
2022-12-16 19:43:00 -05:00
d945e87e4f
S32K3 DRDY less ambigious
2022-12-16 12:02:44 -05:00
05dd43a8de
S32K3 Correct pinirq pinset for external interrupt
2022-12-16 12:02:44 -05:00
ffdf186598
vtol_att_control: reset transition timer states when starting a transition
...
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-12-16 11:36:00 +03:00
84c5ce3a53
removing catkin sitl_gazebo submodule tests as it has also been removed in PX4-Autopilot
...
Updating the submodule
https://github.com/PX4/PX4-SITL_gazebo/pull/934
2022-12-16 08:11:28 +01:00
9db133b13d
Remove angular velocity controller module
2022-12-16 07:52:20 +01:00
52c0cba24b
NuttX with TXAVAL merged
...
nxp_ucans32k146:Use txavail NuttX
Fix Stack Size
Expose some K1 debug features
2022-12-15 08:29:10 -05:00
48e8477799
vtol_att_control: disable maximum height for quadchute by default
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-12-15 15:40:53 +03:00
9ed51ba8ed
quadchute: introduced parameter to specify maximum height
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-12-15 15:40:53 +03:00
f3fe10f63e
S32K Dynamic periphclocks
2022-12-14 10:44:42 -05:00
6c7702b906
mavlink: Keep sending GPS_RAW_INT/GPS2_RAW.hpp streams on GPS failure
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* 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 >
2022-12-14 09:12:39 -05:00
96362bfb52
nxp_mr-canhubk3 Add PROBEs for Debugging
2022-12-14 07:34:23 -05:00
5217bedd4b
commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags
2022-12-14 07:55:04 +01:00
d75e61eef6
v6x: fix rc.board_sensors ver command ( #20763 )
2022-12-14 07:53:12 +01:00
4d318ebd30
mavlink: add initial mavlink OPEN_DRONE_ID_SYSTEM stream
2022-12-13 19:39:27 -05:00
696eeb9a49
ekf2: update EV height state machine (small piece of EV overhaul)
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- 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
2022-12-13 13:29:18 -05:00
805ffa9d0b
ekf2: push mag cal reset to delayed time horizon
2022-12-13 10:24:02 -05:00
57b82af3a0
Hard fault on Port E config (CAN0) due to not sizing the table correctly
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@PetervdPerk-NXP bit by the non-auto sizing table bug again!
Symptom: Hard fault on Port E config (CAN0)
2022-12-13 10:09:40 -05:00
8b02b6b661
Update submodule mavlink to latest Tue Dec 13 12:38:57 UTC 2022
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- mavlink in PX4/Firmware (8e1e5c4faa7749f6bc16650c7452af249a7dcc3a): https://github.com/mavlink/mavlink/commit/081120844300d68e90c8c4d40ab4662cb3eb604c
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/0c7792edfeee7cf08e531cb4ce5b4f01854e5724
- Changes: https://github.com/mavlink/mavlink/compare/081120844300d68e90c8c4d40ab4662cb3eb604c...0c7792edfeee7cf08e531cb4ce5b4f01854e5724
0c7792ed 2022-12-08 olliw42 - Gimbal Device: Adding more invalid and bitmask attributes (II) (#1927 )
771926e6 2022-12-07 olliw42 - gimbal manager cap flags: resolve duplication mistake
2bc32222 2022-12-07 olliw42 - add gimbal device flags to low word of gimbal manager flags (#1928 )
2022-12-13 09:06:14 -05:00
685d5cb473
fix kconfig: rename LINUX to LINUX_TARGET
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LINUX is defined by cmake >= 3.25:
https://cmake.org/cmake/help/latest/variable/LINUX.html
2022-12-13 09:05:18 -05:00
257d4e473b
fixed tailsitter transitions ( #20756 )
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-12-13 10:38:38 +01:00
aba11ce920
rename all instances of serial PPB to EXT2
2022-12-13 08:09:15 +01:00
ba344231d2
v6x: configure SPI busses for board 0x010
2022-12-13 08:09:15 +01:00
ed0f602ce8
v6x: Adapt sensor set for board 0x010 upstream
2022-12-13 08:09:15 +01:00
aec4b93527
v6x: Add EXT2 instance on ttyS3
2022-12-13 08:09:15 +01:00
e17ddcc0e5
Qurt platform custom icm42688p IMU driver ( #20753 )
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- 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
2022-12-12 22:02:23 -05:00
33e39d68f7
DroneCAN SocketCAN driver add FMU support
2022-12-12 20:06:13 -05:00
9b3feee6ee
worker and HRT threads for Qurt platform ( #20739 )
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* Getting work manager and hrt threads ready for Qurt platform
2022-12-12 14:25:28 -05:00
dc0823062e
github actions: disable vtol_standard address sanitizer test
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- unfortunately this is often too slow for github actions
2022-12-12 14:23:13 -05:00
41abf695a8
ekf2: use more efficient covariance update computation
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KSK' is faster to compute than KHP and is mathematically equivalent
2022-12-12 12:31:54 -05:00
61fa28c0d6
Tools/generate_board_targets_json.py exclude px4_ros2_default for now
2022-12-12 11:46:36 -05:00
5b667cf4ba
Uavcannode hygrometer support: temp and humidity
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
2022-12-12 10:54:08 -05:00
a5e4295029
lib/drivers: device drivers library for Qurt platform ( #20741 )
2022-12-10 19:31:06 -05:00
d8bfee517a
boards: beaglebone blue point to a newer version of librobotcontrol ( #20740 )
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- Fixes PRU path issues found in old versions of the library.
2022-12-10 17:27:32 -05:00
29ade6c472
Increase SPI stacks by 16 bytes
2022-12-10 10:54:20 -05:00
e4f641e9b5
Qurt qshell implementation ( #20736 )
2022-12-09 16:49:41 -05:00
8cf13d50a8
ekf2: EKFGSF_yaw minor cleanup ( #20510 )
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- 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
2022-12-09 13:24:00 -05:00
643eed51cb
Qurt lightweight parameter implementation ( #20735 )
2022-12-09 09:55:49 -08:00
f3884d5835
Update world_magnetic_model to latest Fri Dec 9 11:14:09 UTC 2022
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2022-12-09 11:40:30 -05:00
41fa53605c
boards: rebuild STM32H7 bootloaders and px4-io-v2
2022-12-09 11:02:21 -05:00
5b7a2230fc
Update NuttX kernel
2022-12-09 06:36:40 -05:00
3b5f0e21bc
Add Sysview support in conjunction with PX4 cpuload note driver
2022-12-09 06:36:40 -05:00
a502146d73
board_hw_rev_ver: fix hex printf
2022-12-09 07:52:50 +01:00
8bde2a7a28
board_hw_rev_ver.c: check for 'rv == OK' before reading the revision
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Otherwise a potential failure reading the hw version can get overwritten.
2022-12-09 07:52:50 +01:00
8114aad983
initial minimal PX4_ROS2 platform and px4_ros2_default build ( #20689 )
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- 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
2022-12-08 23:03:44 -05:00
cfb670fbb3
Refactor quadchute logic ( #20704 )
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* moved computation of _time_since_trans_start into base class
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* refactor quadchute logic
- move entired logic into VtolType class
- split into smaller functions
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* Update src/modules/vtol_att_control/vtol_type.h
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Silvan Fuhrer <silvan@auterion.com >
2022-12-08 11:56:20 +03:00
2b1d8c1d8e
mavlink switch to common dialect by default and update to latest
2022-12-07 15:46:04 -05:00
72cb4bee01
SITL gz fixes and init cleanup ( #20725 )
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- remove broken gz version handling and remove x500-legacy
- fix all shellcheck warnings
- prepare for Gazebo Garden compatibility (needs more work)
2022-12-07 15:41:13 -05:00
f2c71a8874
microdds_client: added environment variable for defining namespace
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2022-12-07 14:36:23 -05:00
5a2e41c4e4
microdds_client: add XRCE_DDS_KEY parameter
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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 >
2022-12-07 14:36:23 -05:00
a92897fb58
microdds_client: add namespace to partecipant name
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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 >
2022-12-07 14:36:23 -05:00
8eb2a0a3ec
ekf2: delete orientation_covariances_euler()
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- usage replaced with now public calcRotVecVariances()
2022-12-07 12:41:27 -05:00
a187bb3b80
ekf2: predict covariance before predicting state ( #20715 )
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* To predict the covariance, the jacobian from the previous to the current state is required.
2022-12-07 09:34:19 -05:00
c12d9124bd
Update submodule GPS drivers to latest Wed Dec 7 12:38:31 UTC 2022
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- GPS drivers in PX4/Firmware (4eb0a0598048df07c213659944b2720ee42e1cc2): https://github.com/PX4/PX4-GPSDrivers/commit/b49a6c257371abae6e26e0a3e0fc04b963b2f13d
- GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2
- Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b49a6c257371abae6e26e0a3e0fc04b963b2f13d...b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2
b76fc1d 2022-11-21 qst0528 - ashtech: fix position accuracy loss caused by misplaced integer cast (#118 )
Co-authored-by: PX4 BuildBot <bot@px4.io >
2022-12-07 09:16:31 -05:00
db791fa317
Update submodule sitl_gazebo to latest Wed Dec 7 12:38:25 UTC 2022
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- sitl_gazebo in PX4/Firmware (b3cebc6686https://github.com/PX4/PX4-SITL_gazebo/commit/b38e701ec4230a6105ace872447c0f63bc181d41
- sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/1b56329b73f68f1480e58b1137b3e5169c7453d1
- Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/b38e701ec4230a6105ace872447c0f63bc181d41...1b56329b73f68f1480e58b1137b3e5169c7453d1
1b56329 2022-11-22 Frederic Taillandier - adding a gazebo position sniffer to get position at a high rate from another program (#928 )
2022-12-07 09:16:00 -05:00
David Sidrane