1df52df27d
ekf2: scope GnssCtrl enum
2023-12-05 11:22:59 -05:00
97423136d1
ekf2-AGP: scope control enum
2023-12-05 11:22:59 -05:00
c5101c70b3
uorb: enure message definitions don't exceed buffer lengths & increase test buffer
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There were already checks at runtime, but this ensures the format is not
too long at built-time.
2023-12-05 10:42:23 +01:00
df46ad7774
Dcm2: Use std::sin with overloaded types
2023-12-05 10:42:23 +01:00
d1b8a2e8d5
fxedwingPositionControl: Add slew rate at the end for all mode instead inside each
2023-12-05 10:42:23 +01:00
ae3aee3402
fw param: reduce default COM_VEL_FS_EVH to warn earlier when velocity uncertainty increases
2023-12-05 10:42:23 +01:00
1d07697a9e
NPFG: Add fallback for corner cases
2023-12-05 10:42:23 +01:00
1c25d65a1e
Add missing newline at the end of files
2023-12-01 13:11:00 -05:00
4c0b6dbe86
Remove trailing whitespaces and trailing duplicate newlines
2023-12-01 13:11:00 -05:00
d8d2213cab
mavlink streams: add SYSTEM_TIME to onboard low bandwidth
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It's required with 2Hz by some MAVLink enabled payloads.
2023-12-01 11:02:37 -05:00
9184a8f4ef
mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth
2023-12-01 11:02:37 -05:00
3ceb932b7c
mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth
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There are MAVLink enabled gimbals that directly consume RC channel data.
The gimbal controls stutter with this profile when the rate is too low.
2023-12-01 11:02:37 -05:00
938be68c69
mavlink streams: add gimbal orientation feedback to normal stream
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It only publishes when the information is available on uORB
and is useful for the groundstation to show the gimbal's status.
2023-12-01 11:02:37 -05:00
b0df7c7ccb
RTL/Land: set gimbal to neutral to reduce change of damage
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
789b3880cf
Mission: set gimbal to neutral on inactivation
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It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
0d8ba587ca
Mission: set gimbal to neutral before landing item
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To reduce risk of damage during landing.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
178ea132b6
Navigator: add set_gimbal_neutral() functionality
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To point the gimbal forward eg during landing to reduce chance of damage.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
fe7988672f
ekf2: auxiliary position fusion
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Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-12-01 11:50:22 +01:00
aaefc36cad
airframes: remove 4900_crazyflie
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
6c9af2e0ec
airframes: remove 4040_reaper
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
6b4fca1b9d
px4vision configs: remove params that are just set again to default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
d85aaf4dfd
v5x/v6x: save flash by not compiling analog OSD by default
2023-11-30 17:16:02 +01:00
82c422b818
fmu-v5x: don't build roboclaw driver by default
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it's not used that often and for rovers only.
2023-11-30 17:16:02 +01:00
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
d014d76ca7
HeadingSmoothing: set correct maximum heading
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The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
2023-11-30 17:16:02 +01:00
5a2efc1cb2
GotoControl: remove dependency on PositionControl
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It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
2023-11-30 17:16:02 +01:00
c853acc2ff
GotoControl: also provide maximum velocity to position smoother
2023-11-30 17:16:02 +01:00
d1e8bdbd16
GotoControl: rename yaw rate acceleration parameter
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such that not only one letter differs to MPC_YAWRAUTO_MAX
2023-11-30 17:16:02 +01:00
dc7f9165d1
logged_topics: fix goto_setpoint name
2023-11-30 17:16:02 +01:00
3de6fee07f
GotoControl: make interface over uORB
2023-11-30 17:16:02 +01:00
96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
14b8afe972
PositionSmoothingTest: remove duplicate vector comparison
2023-11-30 17:16:02 +01:00
591845bb41
HeadingSmoothing: rename, simplify, add cpp
2023-11-30 17:16:02 +01:00
be05b3e8d7
helper_functions: include defines for M_PI_PRECISE
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The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
2023-11-30 17:16:02 +01:00
efb325d25d
motion_planning: remove deprecated separate test
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It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
2023-11-30 17:16:02 +01:00
53076b9863
PositionSmoothing: guard division by zero
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Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
2023-11-30 17:16:02 +01:00
11cca72ef1
VelocitySmoothing: fix division by zero cases
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Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
2023-11-30 17:16:02 +01:00
6f295d91d1
Revert "motion_planning: sanitize inputs to position and velocity smoothing libs"
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This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
2023-11-30 17:16:02 +01:00
14785eeb47
GotoSetpoint message: reorder flag directly before value
2023-11-30 17:16:02 +01:00
4b920a6628
GotoControl: add go-to control interface to mc position controller
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goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
e47aba8bc9
msg: add go-to setpoint interface
2023-11-30 17:16:02 +01:00
72a811a4b3
motion_planning: add heading smoother lib
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wraps the velocity smoother, but is intended for generating smooth heading trajectories
handles angle wrap
2023-11-30 17:16:02 +01:00
80dd7e4806
motion_planning: sanitize inputs to position and velocity smoothing libs
2023-11-30 17:16:02 +01:00
f69636feef
fix msg: add_custom_command needs to depend on files instead of custom_command target name
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This fixes incremental builds when msg files change.
Introduced with https://github.com/PX4/PX4-Autopilot/pull/21995 .
2023-11-30 10:36:39 -05:00
3b041ef8d4
empy version fixed to 3.3.4
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Signed-off-by: frederik <frederik@auterion.com>
2023-11-30 10:07:27 -05:00
9d465615d1
src/drivers/sw_crypto: Fix buffer lengths for xchacha20 crypto
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The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
2023-11-29 20:56:00 -05:00
c2345ac5b3
Update world_magnetic_model to latest Wed Nov 29 11:14:09 UTC 2023
2023-11-29 20:55:05 -05:00
33a3e568bb
boards: update all NuttX defconfigs
2023-11-29 20:54:34 -05:00
bresch
Beat Küng
Konrad
Matthias Grob
Silvan Fuhrer
Thomas Stastny
frederik
Jukka Laitinen
PX4 BuildBot