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
2026-05-30 07:50:04 +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
369 changed files with 2017 additions and 906 deletions
@@ -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@v4
+      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@v4
+      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@v4
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v4
+      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@v4
+      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@v4
+      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@v4
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -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
@@ -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
@@ -63,8 +63,6 @@ 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-default SENS_DPRES_OFF 0.001

@@ -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
@@ -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.
 */
@@ -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.
 */
@@ -46,7 +46,7 @@ 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_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
@@ -2,6 +2,7 @@ uint64 timestamp		# time since system start (microseconds)

 float32 altitude_sp			# Altitude setpoint AMSL [m]
 float32 altitude_reference		# Altitude setpoint reference AMSL [m]
+float32 altitude_time_constant		# Time constant of the altitude tracker [s]
 float32 height_rate_reference		# Height rate setpoint reference [m/s]
 float32 height_rate_direct		# Direct height rate setpoint from velocity reference generator [m/s]
 float32 height_rate_setpoint		# Height rate setpoint [m/s]
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_module.h
+ * @file module.h
 */

 #pragma once
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_module_params.h
+ * @file module_params.h
 *
 * @class ModuleParams is a C++ base class for modules/classes using configuration parameters.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_posix.h
+ * @file posix.h
 *
 * Includes POSIX-like functions for virtual character devices
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_tasks.h
+ * @file tasks.h
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Mark Charlebois (2015) <charlebm@gmail.com>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_getopt.cpp
+ * @file px4_getopt.c
 * Minimal, thread safe version of getopt
 */

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

 /**
- * @file Publication.hpp
+ * @file PublicationMulti.hpp
 *
 */

--- 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