* added a new driver ASP5033 for measuring the differential pressure and airspeed
---------
Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>
When the yaw estimate is converging, the controller makes the drone yaw
in order to follow the current setpoint. This is unintuitive for the
pilot and it is preferable if the drone continues to fly towards the
same physical direction.
This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
This updates the gps/devices submodule which includes a fix that
requests the Unicore HEADINGA message in case the message is not enabled
by default.
Signed-off-by: Julian Oes <julian@oes.ch>
If the measured voltage is more than 65v we need to split the voltage
over multiple cells in order to avoid overflowing the uint16. This is
according to the MAVLink spec.
Signed-off-by: Julian Oes <julian@oes.ch>
The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.
The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.
Signed-off-by: Julian Oes <julian@oes.ch>
Fixes the clang error:
/__w/PX4-Autopilot/PX4-Autopilot/src/drivers/drv_hrt.h:297:35: fatal error: identifier '_s' preceded by whitespace in a literal operator declaration is deprecated [-Wdeprecated-literal-operator]
297 | constexpr hrt_abstime operator "" _s(unsigned long long seconds)
- Enable arbitrary euler angle for Mag rotation
- new CUSTOM rotation enum out of the normal enum range
- mag_rot: automatically change to custom if euler rot is set
- sensor_calibration: Magnetometer save custom rotation parameters
- mag_cal: cross mention rotation parameters
- This allows the user to see the RPY options when searching for the rotation parameter
---------
Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
In the mavlink_receiver code, after a while it will try to resend some
parameter update through the MAVLink instance. But for Iridium links
those are not a good idea. So this adds a condition that prevent the
sending if the MAVLink instance is in Iridium mode.
Related to issue #21496
sem_wait() can be interrupted if the task receives a signal, however
the blockinglist implementation depends on blocking until the semaphore
can be obtained.
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
- simplify vehicle_status.arming_state down to just armed and disarmed
- ARMING_STATE_INIT doesn't matter
- ARMING_STATE_STANDBY is effectively pre_flight_checks_pass
- ARMING_STATE_STANDBY_ERROR not needed
- ARMING_STATE_SHUTDOWN effectively not used (all the poweroff/shutdown calls loop forever in place)
- ARMING_STATE_IN_AIR_RESTORE doesn't exist anymore
- collapse ArmStateMachine into commander
- all requests already go through Commander::arm() and Commander::dismarm()
- other minor changes
- VEHICLE_CMD_DO_FLIGHTTERMINATION undocumented (unused?) test command (param1 > 1.5f) removed
- switching to NAVIGATION_STATE_TERMINATION triggers parachute command centrally (only if armed)
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
Some system are able to dead-reckon for a while after losing GPS or
other sources providing positional feedback. If the estimated position
error grows above the failsafe threshold, the system enters a failsafe
mode. As the position error estimate is growing linerly over time, and
it is recommended to take action before entering the failsafe, we here
warn the user about the imminent failsafe and propose to take manual
control.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* [not-working] add a gz-omnicopter model
* Fix axis directions on omnicopter model
The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.
* include model from gz-fuel & remove mesh files
* Fix omnicopter model using fuel
---------
Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
There is no reason to contrsain the position uncertainty, estpecially
when flying with velocitiy aiding only.
Note that all the variances are already contrained to sane values at the
end of the covariance prediction
- set vision attitude error filter uninitialized if vision data stops
- ev error filter is only compiled when ev config is selected
Co-authored-by: bresch <brescianimathieu@gmail.com>
A version update is needed since the dataman is showing errors if data doesn't exist or if it is wrongly stored. This will force default data to be initialized.
There is some actual changes because the earth mag field states are now
reset using the WMM when available. In the replay log, the measured mag
field does not match the WMM and this is why there is a large diff. It
is however more correct now than before.
because sprintf is deprecated on MacOS
and CI fails with warning -> error:
'sprintf' is deprecated: This function is
provided for compatibility reasons only.
Due to security concerns inherent in the
design of sprintf(3), it is highly
recommended that you use snprintf(3) instead.
I updated all versions to the newest one that's used anywhere.
Then at least the straing can be found with full text search.
It's another step towards understanding and unifying the CI environment.
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.
I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
modules__ instead of module__ prefix
The module depends on the hysteresis library and probably because
it compiles with the still prevalent global includes the dependency
is not declared.
also for the other linux target builds. It's a follow up to
e5503480e3
I wasn't aware that there are multiple different
container versions used for almost the same build.
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.
Testing is required whether this actually works on Pixhawk 6X though.
Signed-off-by: Julian Oes <julian@oes.ch>
When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Having newline between I think didn't apply the PR stale days setting of
30 properly (it was using 45)
And it seemd that unless I set the days-before-close to -1
intentionally, it would still close the Issue/PRs, as the default value
is 7 already.
Also updated version of the stale action to v8
* Remove old stale bot yaml file
* Remove slack svg file (unused)
* Stale action: Only apply stale label, and no other actions
Respecting the opinion on
https://github.com/PX4/PX4-Autopilot/commit/fa9ac6ecf651232f3105ca124a2d2c54ab8620d0,
it seems reasonable to disable commenting feature, and just keep the
action only applying the `stale` label. This will reduce the noise /
email spams / ping pong fight with the stale bot (Action)
- Remove unnecessary text rendering, which made clicking log links
harder
- Re adjust markdown elements to make it easier to read / intuitive when
creating an issue
Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
const char *data = "www\r\n";
Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0'
type of data: char const*
type of &data: char const**
So when we call
write(_fd, &data, strlen(data));
then strlen(data) == 5
and we send the 4 byte memory address of data
+ some additional random byte.
Correct is
write(_fd, data, strlen(data));
where char const* gets casted to const void * and we pass
the pointer to the content of data.
The fundamental problem here is write() not being typesafe.
Before this the ESC calibration aborts if battery detection doesn't work.
The problem is if the user still connects the battery as he gets instructed
and the calibration aborts then the ESCs are in calibration mode and
after abortion calibrate to the wrong value.
Also I realized there's no additional safety by aborting the calibration
if the battery cannot be detected during the timeout because a pixhawk
board without power module will report a battery status from the
ADC driverand in it that no battery is connected which is the best
it can do. In this situation the motors will still spin if the
ESCs are powered.
Some ESCs e.g. Gaui enter the menu relatively quickly if the
signal is high for too long. To solve that it's kept high shorter.
Also all tested ESCs detect the low signal within a shorter time
so no need to wait longer.
- Change timings for a more reliable calibration.
- Make sure there's an error message when battery measurement is not
available also when it gets disabled after system boot in the power
just above the calibration button.
- Safety check if measured electrical current goes up after issuing the
high calibration value for the case the user did not unplug power
and the detection either fails or is not enforced.
Before:
When the mixed throttle for the motor was exactly zero the ramp went
from the disarmed PWM value to the minimum PWM value.
When the throttle was even just slightly different from zero the ramp
made a jump up to the commanded throttle scaled between
disarmed PWM and maximum PWM, then ramped between
disarmed PWM and minimum PWM and at the end jumped up again to
the commanded throttle scaled between minimum PWM and maximum PWM.
After:
The ramp goes from disarmed PWM value to the the
commanded throttle scaled between minimum PWM and maximum PWM.
If the commanded throttle changes during the ramp then the scale and
hence also end value of the ramp changes.
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
This adds support for the TI LP5562 RGB LED driver.
Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
Instead we read the W_CURRENT register that we're generally not using
and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
the command line argument.
Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf
Signed-off-by: Julian Oes <julian@oes.ch>
* Removed obsolete voxl2-io directory
* Updated support for ModalAI FC v2 board
* Added UAVCAN back in and removed local position estimator and attitude estimator Q that are no longer supported.
* Removed unneeded IMU drivers
set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Our serial_test showed only ~84kB/s with the default 256 RX buffer size
with significant ~2.5ms periods of the flow control RTS pin being
asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput
only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX
buffers do not increase throughput anymore, while the theoretical
maximum is 375kB/s.
Transmit buffer size is increased to 10kB same as on FMUv5x to prevent
any future differences in queue behavior and throughput. serial_test
showed ~350kB/s throughput at 3kB TX buffer size, so this is just a
precaution.
* refactored uncommanded descend quadchute
- use fixed altitude error threshold
- compute error relative to higest altitude the vehicle has achieved
since it has flown below the altitude reference (setpoint)
* disabled altitude loss quadchute by default
* altitude loss quadchute: added protection against invalid local z
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed
- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
concurrently and we rely on the fact that another export will be
triggered in that case.
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This is now using the advanced lift drag plugin.
The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.
The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.
Signed-off-by: Julian Oes <julian@oes.ch>
* RateControl: rename setGains to setPidGains to be more precise
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
- for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.
With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.
The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
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>
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>
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>
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>
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>
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>
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>
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>
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>
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>
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>
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.
* 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>
* 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
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.
- 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>
* 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>
* 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>
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>
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>
- 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>
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>
* 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>
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>
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>
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>
-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>
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.
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>
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>
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>
- 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
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>
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>
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>
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>
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>
- 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
- 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>
- 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>
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>
* 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
- 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>
- 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()
- 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.
* 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>
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.
* 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.
- 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)
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
* 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>
- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
- 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.
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>
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>
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>
_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>
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.
- 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>
* 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.
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.
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.
* [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.
- 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>
- 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
- 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)
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>
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
-> need to re-evaluate can_run
Previously, it was not possible to enable forwarding of messages to/from
teh USB instance because it does not have a param for it, like the
serial instances have.
With this commit, we change the default to always set forwarding on for
the USB instance as that is likely desired.
Signed-off-by: Julian Oes <julian@oes.ch>
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.
According to https://linux.die.net/man/3/pthread_cond_destroy:
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
Instead check if system has previously switched into LOITER to acheive the current
WP of type POSITION, and in that case stay in LOITER until altitude is reached.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Previously the condition was based on hard coded height rate estimate and
setpoint values and an altitude error threshold. That showed to be leading
to false positives when the vehicle doesn't tightly follow the altitdue
ramp given by TECS to achieve a new altitude setpoint, and has become
completely infeasibly with the latest TECS rework that leads to non-ramped
altitude setpoint changes in the tecs_status message.
The new check no longer checks the altitude error but only the height rate
instead. It begins to integrate the height rate error once it detects an
uncommanded descend condition (height rate negative while setpoint is
positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
- update motor mapping to use new UART_ESC_FUNC* auto generated params
- add support for actuator_test msg to support Actuator Testing in QGC
- modalai_fc-vX targets start driver if configured
- keep track of ESC spin direction in own param
- set ramp up param in MixerOutput to false
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
- additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
- use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
For the esc_calibration code, the actuator test is published for each motor
in a row. If the orb queue size is too small, messages are lost and not
received in mixer_module.
Set the default orb queue size of ActuatorTest high enough to keep the commands
for all motors in the queue.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Strictly follow the following convention for tailsitter:
FW Attitude and FW rate controller always operate in the FW frame, meaning that roll is
roll in FW, which for tailsitter means around the yaw axis in the body frame. The interfaces
between modules is though always in body frame.
That enables us to do the axis transformations for tailsitter, that are currently distributed
all over the controller (attitude, rate, vtol module), only at the input and output data of modules.
Side effect is that the FW rate control tuning gains meanings change: while before the roll gains
where meant for the body axis, they are now always applied for the FW roll axis (also in hover). So
the naming now is correct for FW, while before it was for Hover.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort
- increasing by 50% to be conservative
When we receive a command_long or command_int message to
answer, it arrives with a source sysid/compid, so this means we can send
the command_ack back on the appropriate MAVLink instances instead of all
of them.
This commit filters outgoing command_ack messages, so they are only sent
on the MAVLink instances where the sysid/compid has been seen in the
past.
This means that a command_ack is likely still sent on multiple links for
a setup with redundant links.
This should also prevent command_acks from being blasted on Iridium links
when it's not required.
Signed-off-by: Julian Oes <julian@oes.ch>
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
On CubeOrange where no console is configured by default, starting
MAVLink shell just stalls, and doesn't work.
Also, logfile download has been reported not to work, and again, seems
to work with this change.
Signed-off-by: Julian Oes <julian@oes.ch>
- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
- Replace non-standard M_PI constants with PX4 defined M_PI_F constants
- Include missing header file for function hrt_absolute_time declaration
- Add new PX4_SOC_ARCH_ID for the VOXL2 board
- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
* AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS
Previously the vehicle_air_data.temperature and pressure was used, instead of the
density field directly.
Only makes a difference if there is an airspeed sensor connected to provide
the air temperature.
* AirspeedSelector: only safe estimated scale in param if airspeed is valid
* AirspeedSelector: remove 0.01 cliff for saving learned scale to param
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This checks was introduced to catch the (unlikely) case of the driver publishing
a stale value that is not actually from a current measurement right after boot.
This was done by declaring it invalid if there is no update of the measurement
within the first 10s after boot.
Practice though has shown that around 0, many airspeed sensors have such a low
resolution that the reported airspeed value is often at the exact same value
for longer periods of time on totally healthy sensors, and thus we trigger
some false positive failure detections.
Given that this failure mode (driver publishing stale data) is quite rare (if
it doesn't receive new data it should stop publishing), I remove this check
here again.
When in aerodynamic flight mode and armed, there is still the data stuck
check that can trigger if there is no update for 2s.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* GPS_RAW_INT: Only send no gps messages if gps has ever been present
* GPS2_RAW: Keep in sync with GPS_RAW_INT
Signed-off-by: Marcell Rausch <marcell@auterion.com>
- respect new EKF2_EV_CTRL parameter for VPOS usage
- EV hgt rotate EV position before usage (there's often a small offset in frames)
- EV hgt reset use proper EV velocity body frame
- try to keep EV hgt and EV vel state machines consistent
- small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
- first version of IMU driver for the VOXL 2 platform (Qurt)
- this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory
- don't store unnecessary IMU copy in class, pass it through where required
- remove custom pi constants
- remove unused fields from ahrs_ekf_gsf (vel_NE, fuse_gps, accel_dt)
- explicitly initialize everything in header
- apply PX4 code style
- set GPS velocity before yaw estimator update, not after
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
- PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
- currently doesn't do much other than allow you to build px4 msgs interface package
Multiple agents can connect to the same client
For sitl builds, if the intance number is different from zero,
XRCE_DDS_KEY is set to the instance number and
the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port 8888
If the instance number is equal to zero
XRCE_DDS_KEY is left untouched and
the microdds_client is automatically started
without namespace
and udp port 8888
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
The partecipant name is modified into
"client_namespace"/px4_micro_xrce_dds
For sitl builds the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port
8888+"intance_number"
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
With openjdk 17.0.5 2022-10-18, jmavsim fails to start due to missing
exports. This was previously a warning and turned into an error now.
Caught AppContextInfo(Bug 1004) InaccessibleObjectException: Unable to make public static sun.awt.AppContext sun.awt.AppContext.getAppContext() accessible: module java.desktop does not "exports sun.awt" to unnamed module @2c767a52 on thread J3D-Renderer-1
[0]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:354)
[1]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:297)
[2]: java.base/java.lang.reflect.Method.checkCanSetAccessible(Method.java:199)
[3]: java.base/java.lang.reflect.Method.setAccessible(Method.java:193)
[4]: com.jogamp.nativewindow.awt.AppContextInfo$1$1.run(AppContextInfo.java:40)
[5]: com.jogamp.common.util.UnsafeUtil.doWithoutIllegalAccessLogger(UnsafeUtil.java:219)
[6]: com.jogamp.nativewindow.awt.AppContextInfo$1.run(AppContextInfo.java:34)
[7]: java.base/java.security.AccessController.doPrivileged(AccessController.java:318)
[8]: com.jogamp.nativewindow.awt.AppContextInfo.<clinit>(AppContextInfo.java:31)
[9]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
[10]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
[11]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
[12]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:77)
[13]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
[14]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
[15]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
[16]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
[17]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
[18]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
[19]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
[20]: java.desktop/java.awt.Container.addNotify(Container.java:2804)
[21]: java.desktop/java.awt.Window.addNotify(Window.java:791)
[22]: java.desktop/java.awt.Frame.addNotify(Frame.java:495)
[23]: java.desktop/java.awt.Window.show(Window.java:1053)
[24]: java.desktop/java.awt.Component.show(Component.java:1728)
[25]: java.desktop/java.awt.Component.setVisible(Component.java:1675)
[26]: java.desktop/java.awt.Window.setVisible(Window.java:1036)
[27]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
[28]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
[29]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Caught AppContextInfo(Bug 1004) IllegalAccessException: class com.jogamp.nativewindow.awt.AppContextInfo cannot access class sun.awt.AppContext (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52 on thread J3D-Renderer-1
[0]: java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:392)
[1]: java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:674)
[2]: java.base/java.lang.reflect.Method.invoke(Method.java:560)
[3]: com.jogamp.nativewindow.awt.AppContextInfo.fetchAppContext(AppContextInfo.java:191)
[4]: com.jogamp.nativewindow.awt.AppContextInfo.update(AppContextInfo.java:135)
[5]: com.jogamp.nativewindow.awt.AppContextInfo.<init>(AppContextInfo.java:50)
[6]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
[7]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
[8]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
[9]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:77)
[10]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
[11]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
[12]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
[13]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
[14]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
[15]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
[16]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
[17]: java.desktop/java.awt.Container.addNotify(Container.java:2804)
[18]: java.desktop/java.awt.Window.addNotify(Window.java:791)
[19]: java.desktop/java.awt.Frame.addNotify(Frame.java:495)
[20]: java.desktop/java.awt.Window.show(Window.java:1053)
[21]: java.desktop/java.awt.Component.show(Component.java:1728)
[22]: java.desktop/java.awt.Component.setVisible(Component.java:1675)
[23]: java.desktop/java.awt.Window.setVisible(Window.java:1036)
[24]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
[25]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
[26]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Exception in thread "main" java.lang.reflect.InvocationTargetException
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:568)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.RuntimeException: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52
at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8553)
at javax.media.j3d.Screen3D.<init>(Screen3D.java:354)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1124)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1026)
at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:990)
at me.drton.jmavsim.Visualizer3D$CustomCanvas3D.<init>(Visualizer3D.java:909)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:196)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
at me.drton.jmavsim.Simulator.main(Simulator.java:944)
... 5 more
Caused by: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @2c767a52
at java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:392)
at java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:674)
at java.base/java.lang.reflect.Method.invoke(Method.java:560)
at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8551)
... 13 more
* VTOL: take home_position into account for ground clearance
For approximating distance to ground in case there is no valid distance sensor
data, subtract the home position altitude from the local position altitude.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Instead of always starting with instance 0 (potentially an internal
mag), first take the current sensor as reference to compare the other
ones against it.
The issue is that otherwise we can end up in a
situation where a switch occurs because the currently used sensor isn't
much better than a sensor with a lower index: because the selected one
isn't much better, we cannot "fail-over" to it and get stuck on another
sensor, triggering a fail-over.
- WelfordMeanVector now computes covariance
- use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
- WelfordMean and WelfordMeanVector handle initial value and count roll over
- Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
- sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
- fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
- gyro_calibration: update Welford mean usage
This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
Add ARK_FMU_V6X to RCS netman
Remove arkv6x rc single wire
Fix arkv6x mtd
arkv6x bootloader init all pins to prevent power cycling peripherals on boot
arkv6x don't power cycle sd card on boot
arkv6x add UART4 Telem 4
Also applies to Loiters that are started due to the previous mode being over (Takeoff,
VTOL_Takeoff, Mission).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
Use kClearanceAltitudeBuffer for it, which is also used to ensure that during takeoff an
altitude setpoint above the clearance altitdue is set.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
previously, the next position setpoint in the triplet was left unchanged during an abort, which meant that the abort loiter current point combined with land next point triggered the early landing config logic. this commit is only a hack to make things work temporarily.. this needs to be handled better.
- explicitly defined takeoff airspeed setpoint
- dont use climbout mode
- allow max climb on takeoff
- dont handle post clearance altitude case (navigator will switch anyway)
Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- also put flaring internal states into a struct to organize a bit
- one concern with blending the throttle setpoint like this with the flare time param is that folding prop belly landing airframes may want to have a separate param for shorter throttle kill and still use the flare time ramps for everything else
abruptly changing to a heading setpoint on flare can cause the aircraft to roll and deviate from the runway, this commit
- maintains path following control during the flare not to disrupt the tracking just before touchdown
- (unfortunately for crosswind landing) removes the body axis alignment for runway bearing - this is a compromise
to achieve both runway bearing body axis alignment AND a specific touchdown point, either
1. the wind would need to be considered, and an appropriate diagonal approach (obstructions allowing) defined to the runway
2. slip control added, keeping path following outputs only commanding roll (controlling airspeed vector) and using yaw-rate command (only actuated by e.g. rudder) to align body axis with the runway
- consolidate takeoff rotation transition times for pitch constraints and throttle setpoint with a single param
- consolidate pitch takeoff constraint parameters (remove rwto_max_pitch, use nominal max)
- input correct units to rwto pitch constraint getters
- encapsulate absolute time interpolator method for transitions
- start runway ops from idle throttle
TECS climbout mode was used for takeoff climbout, which puts throttle to full and does not regulate a specific airspeed.
This commit sets the desired takeoff airspeed explicitly and allows max climb rate to track the ascent.
previously a scale factor param on min airspeed was used to define the climbout airspeed for runway takeoff
additionally, the rotation speed was defined by another hardcoded scale on top of the previously scaled min airspeed
this commit explicitly defines a takeoff speed and rotation speed for runway takeoff in params, with option to disable
Before, the logic to update disarm and rate values also triggered during
bootup on the px4io, because the output functions are only set in
updateSubscriptions().
Therefore change the check to prevent updating during the first cycle.
When using ignition SITL simulation with NO_LOCKSTEP, the SITL PX4 fails to update the IMU data from Ignition Gazebo.
The timestamp for the IMU data is taken from the ignition message:
- In LOCKSTEP mode the clock from the ignition simulation and the one from PX4 SITL are synchronized, hence everything works fine
- In NO_LOCKSTEP mode, those clocks are not synchronized anymore, so the timestamp for the IMU data should not be the one from Ignition but the current time in PX4 SITL when receiving the message.
The update function of InputMavlinkGimbalV2 returns UpdatedNotActive when receiving control commands from a system or component that doesn't match the primary control. This can happen if a component just sends commands without being in control or when transitioning to a different primary control.
If the input is marked as already_active, it will reset last_input_active which in turn resets the primary control in the next iteration. According to the MAVLink gimbal protocol v2, a component needs to send MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE to start controlling the gimbal and to remove control. However, with the current implementation there are several other commands that would reset the primary control.
With this PR, the primary control remains with the component that requested it last if updates from a not active component are received.
* Log position setpoint reference of npfg
This commit logs the local position setpoint reference when using NPFG
* Address review comments
This commit address review comments from @tstastny
Replace the existing check for the availability of a takeoff mission item with a combined
check for takeoff and landing item (or landing pattern). New param MIS_TKO_LAND_REQ
can be set to require only a takeoff, only a landing, both takeoff and landing, and
both or none. The latter is meant to be set if is e.g. deemed unsafe to start a flight
through a Takeoff WP without though defining a Landing - as then in case of a RTL the
vehicle doesn't follow a pre-defined path but instead only can do default RTL that especially
for FW and VTOL isn't always safe.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Previously the minimum airspeed setpoint was adjusted to the load_factor compensated
stall speed, which, when the stall speed was set without margin, gave the controller
no room for error (the vehicle would stall if the controller has even a small airspeed
error).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- Include board_config.h for BOARD_GET_EXTERNAL_LOCKOUT_STATE etc. macros
- Include fcntl.h for "open"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
* LandDetectorMC: enforce that LNDMC_Z_VEL_MAX * 1.2 is below *MPC_LAND_CRWL/MPC_LAND_SPEED
Otherwise the _in_descend flag doesn't get set correctly during the last part
of the landing, where the descend speed is at MPC_LAND_CRWL or LAND_SPEED.
The _in_descend flag is set it the velocity setpoint is >1.1*LNDMC_Z_VEL_MAX.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can
more easily be configured independently.
* Removed board specific link library command from px4_config.cmake and moved it to a more generic
board specific solution that can be used by any board that needs custom link libraries.
* Removed redundant cmake command for Qurt
* Removed unused definition from Qurt cmake file
* Removed unnecessary QURT_LIB cmake function
* Reorganized the voxl2 build structure to avoid 4 level board directories.
* Reverted cmake files to remove 4 level board naming code
* Updated documentation
- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Fixes a regression from 8bae4e5c0e, where
the orbit flight task wasn't an extra task (flight_tasks_to_add) anymore
and therefore the command handling wasn't generated.
There was a race condition that could cause several outcomes. The most severe
was that flight_mode_manager gets the command, switches to orbit and then
in the next iteration switches back because commander did not change
nav_state yet. When commander then switches, flight_mode_manager would still
be in the old mode.
This is prevented by storing the command (allowing it to arrive before or
after mode switch), and then apply it after the switch happens.
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
- individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
During the whole flight, if the difference between the yaw estimate from
EKF2 and the emergency estimator is large and that the GNSS velocity
fusion is failing continuously, immediately reset to the emergency yaw
estimate.
## Please note that feature requests are not 'fire and forget'
It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
- type:textarea
attributes:
label:Describe problem solved by the proposed feature
description:A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
validations:
required:true
- type:textarea
attributes:
label:Describe your preferred solution
description:A clear and concise description of what you want to happen.
validations:
required:true
- type:textarea
attributes:
label:Describe possible alternatives
description:A clear and concise description of any alternative solutions or features you've considered.
validations:
required:true
- type:textarea
attributes:
label:Additional context
description:Add any other context or screenshots for the feature request here.
Please use [PX4 Discuss](http://discuss.px4.io/) or [Discord](https://discord.gg/dronecode) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
<!--
## Describe problem solved by this pull request
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
E.g. For this use case I ran into...
Thank you for your contribution!
## Describe your solution
A clear and concise description of what you have implemented.
Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
## Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.
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## Test data / coverage
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
### Solved Problem
When ... I found that ...
## Additional context
Add any other related context or media.
Fixes #{Github issue ID}
### Solution
- Add ... for ...
- Refactor ...
### Changelog Entry
For release notes:
```
Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
## Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
### Pixhawk Standard Boards
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
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