battery: re-introduced check of LITHIUM_BATTERY_RECOGNITION_VOLTAGE

Signed-off-by: RomanBapst <bapstroman@gmail.com>
battery: cleanup setter functions and added hysteresis for connected state
2026-06-01 01:10:04 +08:00 · 2024-09-24 10:15:19 +03:00 · 2024-09-24 10:02:09 +03:00 · 2024-09-24 10:02:09 +03:00 · 2024-09-23 18:33:03 +02:00 · 2024-09-23 12:21:29 -04:00
432 changed files with 3447 additions and 1639 deletions
@@ -77,6 +77,7 @@ pipeline {
                     "matek_h743-mini_default",
                     "matek_h743-slim_default",
                     "matek_h743_default",
+                     "micoair_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-classic_default",
@@ -88,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -286,6 +286,11 @@ CONFIG:
      buildType: MiniSizeRel
      settings:
        CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -340,6 +340,7 @@ bootloaders_update: \
 	matek_h743_bootloader \
 	matek_h743-mini_bootloader \
 	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -19,8 +19,6 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,8 +21,6 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,8 +30,6 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -97,11 +97,6 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -16,39 +16,36 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
-param set-default NPFG_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
+param set-default FW_PR_FF 0.08
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.08
+
+param set-default FW_RR_FF 0.05
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.03
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_I 0.4
+param set-default FW_YR_P 0.2

 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
 param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6

-param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_CLMB_R_SP 5
+param set-default FW_T_CLMB_MAX 6
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -56,7 +53,6 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3

 param set-default CA_SV_CS_COUNT 6
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -16,11 +16,13 @@ param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_THR_YAW_R 5
+param set-default RD_YAW_RATE_P 0.1
 param set-default RD_YAW_RATE_I 0
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 5
+param set-default RD_MAX_THR_SPD 7
 param set-default RD_SPEED_P 1
 param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
@@ -18,8 +18,6 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,7 +96,5 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,8 +20,6 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,8 +41,6 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -43,6 +43,10 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6

+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -59,8 +63,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001

 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
@@ -75,3 +79,5 @@ param set SIH_L_ROLL 0.145

 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
+
+param set-default VT_ARSP_TRANS 6
@@ -29,7 +29,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
-param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,7 +16,6 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
-param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,7 +16,6 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
-param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,9 +92,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,9 +93,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -25,12 +25,14 @@ param set-default RBCLW_REV 1 # reverse right wheels
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 1
 param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_JERK 50
-param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_JERK 10
+param set-default RD_MAX_THR_YAW_R 4
 param set-default RD_YAW_RATE_P 0.1
 param set-default RD_YAW_RATE_I 0
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 1.8
+param set-default RD_MAX_THR_SPD 2
 param set-default RD_SPEED_P 0.5
 param set-default RD_SPEED_I 0.1
 param set-default RD_MAX_YAW_RATE 300
@@ -23,9 +23,6 @@
 . ${R}etc/init.d/rc.uuv_defaults


-# companion computer is connected via USB permanently
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,8 +73,6 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

-#
-param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3

 # Battery
@@ -184,6 +184,13 @@ then
 	asp5033 start -X
 fi

+# AUAV absolute/differential pressure sensor external I2C
+if param greater -s SENS_EN_AUAVX 0
+then
+	auav start -D -X
+	auav start -A -X
+fi
+
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx2_init.c
+ * @file init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file pwr.c
+ * @file pwr.cpp
 *
 * Board-specific power button functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * BBBLUE specific initialization
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_init.c
+ * @file init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_led.c
+ * @file led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -402,11 +402,12 @@ Syslink::handle_message(syslink_message_t *msg)

 		float vbat; //, iset;
 		memcpy(&vbat, &msg->data[1], sizeof(float));
-		//memcpy(&iset, &msg->data[5], sizeof(float));

-		_battery.setConnected(true);
-		_battery.updateVoltage(vbat);
-		_battery.updateAndPublishBatteryStatus(t);
+		Battery::InputSample sample{
+			.timestamp = t,
+			.voltage_v = vbat,
+		};
+		_battery.updateAndPublishBatteryStatus(sample);

 		// Update battery charge state
 		if (charging) {
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_init.c
+ * @file init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_led.c
+ * @file led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -39,7 +39,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -6,7 +6,4 @@
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default SYS_HAS_MAG 0
@@ -9,9 +9,6 @@ param set-default SYS_AUTOSTART 4001
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6

@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_simple_app.c
+ * @file rc_controller.cpp
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the S32K1XX pwm_servo, input capture and pwm input driver.
 *
@@ -9,7 +9,4 @@ param set-default BAT1_A_PER_V 31
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default SYS_HAS_MAG 0
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_i2c.c
+ * @file i2c.cpp
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_init.c
+ * @file init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_i2c.c
+ * @file i2c.cpp
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_init.c
+ * @file init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_init.c
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initializ() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -22,20 +22,27 @@ CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_TONE_ALARM=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_EVENTS=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -8,6 +8,3 @@ param set-default BAT1_A_PER_V 36.367515152

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -21,9 +21,6 @@ param set-default BAT1_A_PER_V 36.00

 param set-default BAT_V_OFFS_CURR 0.413

-# Disable safety switch
-param set-default CBRK_IO_SAFETY 22027
-
 safety_button start

 set LOGGER_BUF 32
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -11,7 +11,7 @@ uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7

 uint8 source # how the request was triggered
-uint8 SOURCE_RC_STICK_GESTURE = 0
+uint8 SOURCE_STICK_GESTURE = 0
 uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3
@@ -1,67 +1,67 @@
-uint64 timestamp			# time since system start (microseconds)
-bool connected				# Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v			# Battery voltage in volts, 0 if unknown
-float32 current_a			# Battery current in amperes, -1 if unknown
-float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
-float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
-float32 remaining			# From 1 to 0, -1 if unknown
-float32 scale				# Power scaling factor, >= 1, or -1 if unknown
-float32 time_remaining_s	# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
-float32 temperature			# temperature of the battery. NaN if unknown
-uint8 cell_count			# Number of cells, 0 if unknown
+uint64 timestamp				# time since system start (microseconds)
+bool connected					# Whether or not a battery is connected, based on a voltage threshold
+float32 voltage_v				# Battery voltage in volts, 0 if unknown
+float32 current_a				# Battery current in amperes, -1 if unknown
+float32 current_average_a			# Battery current average in amperes (for FW average in level flight), -1 if unknown
+float32 discharged_mah				# Discharged amount in mAh, -1 if unknown
+float32 remaining				# From 1 to 0, -1 if unknown
+float32 scale					# Power scaling factor, >= 1, or -1 if unknown
+float32 time_remaining_s			# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
+float32 temperature				# Temperature of the battery in degrees Celcius, NaN if unknown
+uint8 cell_count				# Number of cells, 0 if unknown

 uint8 BATTERY_SOURCE_POWER_MODULE = 0
 uint8 BATTERY_SOURCE_EXTERNAL = 1
 uint8 BATTERY_SOURCE_ESCS = 2
-uint8 source				# Battery source
-uint8 priority				# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity				# actual capacity of the battery
-uint16 cycle_count			# number of discharge cycles the battery has experienced
-uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
-uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
-uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
+uint8 source					# Battery source
+uint8 priority					# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity					# actual capacity of the battery
+uint16 cycle_count				# number of discharge cycles the battery has experienced
+uint16 average_time_to_empty			# predicted remaining battery capacity based on the average rate of discharge in min
+uint16 serial_number				# serial number of the battery pack
+uint16 manufacture_date				# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health				# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
+uint16 max_error				# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error		# interface error counter
+uint16 interface_error				# interface error counter

-float32[14] voltage_cell_v		# Battery individual cell voltages, 0 if unknown
-float32 max_cell_voltage_delta	# Max difference between individual cell voltages
+float32[14] voltage_cell_v			# Battery individual cell voltages, 0 if unknown
+float32 max_cell_voltage_delta			# Max difference between individual cell voltages

-bool is_powering_off			# Power off event imminent indication, false if unknown
-bool is_required			# Set if the battery is explicitly required before arming
+bool is_powering_off				# Power off event imminent indication, false if unknown
+bool is_required				# Set if the battery is explicitly required before arming


-uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
-uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
-uint8 BATTERY_WARNING_CRITICAL = 2	# critical voltage, return / abort immediately
-uint8 BATTERY_WARNING_EMERGENCY = 3	# immediate landing required
-uint8 BATTERY_WARNING_FAILED = 4	# the battery has failed completely
-uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
+uint8 BATTERY_WARNING_NONE = 0			# no battery low voltage warning active
+uint8 BATTERY_WARNING_LOW = 1			# warning of low voltage
+uint8 BATTERY_WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
+uint8 BATTERY_WARNING_EMERGENCY = 3		# immediate landing required
+uint8 BATTERY_WARNING_FAILED = 4		# the battery has failed completely
+uint8 BATTERY_STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 BATTERY_STATE_CHARGING = 7 		# Battery is charging

-uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
-uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
-uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
-uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
-uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
+uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
+uint8 BATTERY_FAULT_SPIKES = 1 			# Voltage spikes
+uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
+uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
+uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
+uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
+uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
+uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
+uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
+uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
+uint8 BATTERY_FAULT_COUNT = 11 			# Counter - keep it as last element!

-uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
-uint8 warning		# Current battery warning
+uint16 faults					# Smart battery supply status/fault flags (bitmask) for health indication.
+uint8 warning					# Current battery warning

 uint8 MAX_INSTANCES = 4

-float32 full_charge_capacity_wh     # The compensated battery capacity
-float32 remaining_capacity_wh       # The compensated battery capacity remaining
-uint16 over_discharge_count         # Number of battery overdischarge
-float32 nominal_voltage             # Nominal voltage of the battery pack
+float32 full_charge_capacity_wh     		# The compensated battery capacity
+float32 remaining_capacity_wh       		# The compensated battery capacity remaining
+uint16 over_discharge_count         		# Number of battery overdischarge
+float32 nominal_voltage             		# Nominal voltage of the battery pack

 float32 internal_resistance_estimate            # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate                            # [V] Open circuit voltage estimate
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
RomanBapst	81982eb829	battery: re-introduced check of LITHIUM_BATTERY_RECOGNITION_VOLTAGE Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-24 10:15:19 +03:00
RomanBapst	c4d2ec2654	battery: cleanup setter functions and added hysteresis for connected state Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-24 10:02:09 +03:00
RomanBapst	3fdd054566	hysteresis: added get_last_time_to_change_state method Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-24 10:02:09 +03:00
Matthias Grob	f60bb2c6bc	rtl_direct: skip loiter altitude items for multicopter without RTL land delay (#23689 ) This was already done before the refactor and was assumed to not be necessary. The problem is that these mission items result in a strang looking vertical slow down directly followed by an acceleration during the landing phase.	2024-09-23 18:33:03 +02:00
Ramon Roche	e0f8642d26	ci: try upload-artifacts@v3	2024-09-23 12:21:29 -04:00
Marco Hauswirth	8afd267509	move more ekf function implementations to cpp	2024-09-23 12:18:41 -04:00
Marco Hauswirth	e3f138862a	move implementation of updateAidSrcStatus to cpp file, saves flash	2024-09-23 12:18:41 -04:00
Andrew Brahim	b41811b145	SF45 fixes to restart the state machine if sensor does not init correctly (#23565 ) * fixes to restart the state machine if sensor does not init correctly Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fixes Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * increase fail count Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove extra flush, switch from warn to debug, add enum states for sensor bring-up Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init Signed-off-by: dirksavage88 <dirksavage88@gmail.com> --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-09-23 16:35:35 +02:00
bresch	15ddd94349	ekf2: move implementation to ekf_helper to reduce flash usage saves about 4.8kB of flash on FMUv5	2024-09-23 10:27:42 -04:00
Konrad	c20c1f09a6	RTL_DIRECT: explicitely set force heading in loiter hold if needed	2024-09-23 11:02:02 +02:00
Konrad	02e50bb5dc	rtl_direct: loiter hold should track altitude as best effort but not enforce it	2024-09-23 11:02:02 +02:00
Silvan Fuhrer	cacbfcecd8	aiframes: remove setting of CBRK_IO_SAFETY to enabeld, as that's already the param default (#23702 ) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-23 09:10:02 +02:00
Alexander Lerach	dff775a0a7	Implemented AUAV absolute/differential pressure sensor support (#23656 ) * Added AUAV absolute pressure sensing * Moved func to abstract base class * Probe and params * Fixed arg parsing and added auto start * refactorings * Added sample perf * Fixed CI findings * Simplified rc.sensors condition	2024-09-20 16:40:45 +02:00
Stefano Colli	b1c2cf7c88	GZ Advanced Plane: improved rate/TECS tuning (#23700 ) * GZ_Advanced_Plane: Improve rate tuning * GZ_Advanced_Plane: Remove unnecessary default params * GZ_Advanced_Plane: Improve tecs tuning	2024-09-20 16:15:57 +02:00
caijie	11d370823b	NuttX with mtd:ramtron MB85RS256B address length is 2 backport	2024-09-20 06:16:34 -04:00
Alvaro Fernandez	2ecffff700	fw_tecs: Support tighter altitude tracking during low-height flight (#23519 ) * fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold * tecs: Applied smoothed-out altitude TC transition to landings * fw_tecs: modified tighter altitude control for low-height implementation * addressed PR comments * addressed PR comments --------- Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-19 16:24:53 +03:00
BazookaJoe1900	4d83badba1	fix files tags on the header comments (#23564 )	2024-09-19 09:25:18 +03:00
Connor Walker	d01a3d8f04	Fix duplicate entry in gz_worlds list (#23691 )	2024-09-18 16:36:48 -08:00
Daniel Agar	e4dd3f2871	boards/px4/fmu-v5: stackcheck remove FW modules (flash overflow)	2024-09-18 11:34:48 -04:00
Matthias Grob	555b2e6abc	BatteryStatus: Clarify "incompatible voltage" error message	2024-09-18 17:18:02 +02:00
Claudio Chies	ab41927bbd	SIM: GZ: Added mono_cam_down and aruco world (#23687 )	2024-09-18 15:16:27 +02:00
Claudio Chies	5d2e7c8748	Misc: Matrix: Added Addition and Subtraction to Slices (#23679 ) * Added Addition and Subtraction to Slices * MatrixSliceTest: refactor Addition/Substraction checks * Slice: replace operations returning a Matrix with calling the existing Matrix function --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2024-09-18 11:17:37 +02:00
Marco Hauswirth	4a99a51fb1	update upload-artifact v2->v4	2024-09-17 10:55:00 -07:00
chfriedrich98	8aece9bff2	differential: fix CI issue	2024-09-17 09:34:51 -07:00
chfriedrich98	2fd4150b38	differential: Add stabilized and position mode (#23669 ) * differential: add position and stabilized mode * differential: add hardcoded stick input deadzones	2024-09-16 12:09:51 +02:00
chfriedrich98	81747f35bb	rover: add descend navigation state to land detection	2024-09-16 09:36:38 +02:00
Silvan Fuhrer	1c9c5e51c2	boards: cuav x7pro: remove build of ROVER and Q_ATTITUDE_ESTIMATOR to save flash Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-16 09:11:23 +02:00
Konrad	82a7d0410c	DistanceSensorModeChangeRequest: renaming of variable	2024-09-16 09:11:23 +02:00
Konrad	aab2390e51	navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing	2024-09-16 09:11:23 +02:00
Konrad	1755b8304e	RTL direct: Make sure the _rtl_state captures the current status and not the next one	2024-09-16 09:11:23 +02:00
Konrad	e6f07bde2a	lightware_laser: add option to listen to system to enable/disable distance sensor	2024-09-16 09:11:23 +02:00
Silvan Fuhrer	9ca0630376	airframes: SIH_tailsitter: add SENS_DPRES_OFF to bypass airspeed cal Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-13 15:53:52 +03:00
RomanBapst	11440cfb45	added some default parameteter that allow the transition to complete Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-13 15:53:52 +03:00
RomanBapst	878c8bfcce	SIH: fix airspeed for tailsitter Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-13 15:53:52 +03:00
Konrad	4713a6737e	TECS: ramp up fast descend over 2_s to ramp down the throttle command	2024-09-13 14:04:39 +02:00
Konrad	585c92796d	mission_base: do not make terrain avoidance check when mission is not run anymore	2024-09-13 13:59:24 +02:00
Claudio Chies	4ba4b340cc	Reduce the orbit jerk by using a slew rate	2024-09-13 10:28:42 +02:00
Marco Hauswirth	22c2878cf8	send acknowledgement after receiving vehicle wind cmd	2024-09-12 09:34:08 +02:00
chfriedrich98	741ea6b707	differential: add individual parameters for speed and yaw rate feedforward	2024-09-11 13:57:27 +02:00
chfriedrich98	5d8a107925	differential: fix closed loop control removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise	2024-09-11 13:57:27 +02:00
Roman Bapst	c94c1ce4d2	Navigator: Support straight line mission landings (#23576 ) * introduced altitude acceptance radius in position setpoint for fixed wing guidance - allows navigator to explicitly set the altitude acceptance radius - needed for staright line landing support * added ignore_alt_acceptance to position setpoint message to allow guidance logic to ignore altitude error on waypoint - can be useful to prevent loitering at a waypoint within a mission landing sequence * only set altitude acceptance radius to infinity for a waypoint inside a mission landing for fixed wing vehicles * navigator: return altitude acceptance radius from triplet if it's valid * FixedWingPositionControl: check if alt acceptance radius provided in position setpoint is larger 0 --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>	2024-09-10 17:44:24 +02:00
Mathieu Bresciani	03aec2e188	HeadingSmoothing: fix angle wrapping and add unit tests Co-authored-by: Matthias Grob <maetugr@gmail.com>	2024-09-10 15:06:19 +02:00
jmackay2	a5729da4e9	Simplify gz bridge CMakeLists and add GZ Ionic (#23657 ) Co-authored-by: jmackay2 <jmackay2@gmail.com>	2024-09-10 11:53:00 +02:00
bresch	15e9c65a8f	dist-sensor: reduce enum names	2024-09-09 15:40:40 +02:00
bresch	8bca467c15	dist-sensor: use enum instead of integer	2024-09-09 15:40:40 +02:00
chfriedrich98	bb0210ecd7	rover: add rtl as a landed condition for rovers (#23646 ) The RTL sequence from the navigator requires the vehicle to land. This is now handled for rovers by setting its state to landed if it is within the acceptance radius of the home position when in return mode.	2024-09-06 17:21:49 +02:00
Hubert	67ee4817ae	Makefile add micoair h743 bootloader	2024-09-06 11:14:30 -04:00
Hubert	232f699a7f	cmake-variants.yaml add micoair h743	2024-09-06 11:14:30 -04:00
Hubert	c2bd3900be	Jenkins: compile add micoair h743	2024-09-06 11:14:30 -04:00
Marco Hauswirth	44967bdaab	ekf2: uncorrelate position covariance after velocity reset (#23644 )	2024-09-06 08:51:15 -04:00
RomanBapst	1337fca4d0	vtol backtransition: removed downscaling of fw controls during the backtransition Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-06 13:55:48 +03:00
Alexander Lerach	3d36c8519d	drivers/power_monitor: Implement temperature sensor support for INA228 / INA238	2024-09-05 23:09:01 -04:00
Matthias Grob	f98eb067be	logger params: clarify AUX1 logging trigger	2024-09-05 18:06:29 +02:00
Matthias Grob	e4d25df58a	Consistently use "stick gesture" for "rc stick gesture"	2024-09-05 18:06:29 +02:00
Silvan Fuhrer	8eaf93468e	Commander: feedback string for arming/disarming: make clear when from gesture Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-05 18:06:29 +02:00
Silvan Fuhrer	d967cdbb48	Manual control: rename SOURCE_RC_STICK_GESTURE to SOURCE_MANUAL_CONTROL_GESTURE Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-05 18:06:29 +02:00
Silvan Fuhrer	556a302a09	Logger: replace RC keyword by 'manual control' Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-05 18:06:29 +02:00
Silvan Fuhrer	f7c35291ee	Rover Differential: remove RC keyword from params Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-05 18:06:29 +02:00
Silvan Fuhrer	81cf6a736d	Commander: add VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE to list of externaly handled commands (#23642 ) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-09-05 11:20:39 +02:00