Commit Graph

2509 Commits

Author SHA1 Message Date
Matthias Grob f8d729147b Craziflie configs: remove default 100% thrust parameter 2023-09-14 09:50:21 -04:00
Daniel Agar 36010a9a7c ROMFS: rc.fw_defaults set more conservative range finder requirements
- for FW the primary range finder usage is estimating the distance to
   the ground (terrain estimate) to guide the landing approach and initiate flare
 - increase EKF2_RNG_QLTY_T default 1->3 seconds
2023-09-13 12:14:13 -04:00
Silvan Fuhrer 78ddf41aa2 ROMFS: SITL plane_catapult: reduce FW_LAUN_AC_THLD to 10m/s/s to detect every throw
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-09-13 09:50:41 +02:00
Denislav Petrov ece338ceef
Adding a new differential pressure sensor ASP5033 (#21568)
* 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>
2023-09-05 10:21:05 +12:00
Daniel Mesham 86822171b9 Add SITL targets for Iris models with depth cameras 2023-08-22 11:50:29 -04:00
Dusan Zivkovic 29f352d49d px4-rc.simulator: set Gazebo coordinate frame reference (SIM_GZ_HOME_* params) from PX4_HOME_* env variables 2023-08-07 14:41:35 -04:00
Beat Küng 0277a6486f mavsdk_tests: add offboard attitude test & run with Q estimator 2023-08-04 11:27:31 -04:00
Ayham Alharbat 1c1f8da7d9
add a gz-omnicopter model (#21818)
* [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>
2023-07-27 11:34:27 +02:00
Beat Küng 05a5bbe120 boards/diatone/mamba-f405-mk2: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Theotime Balaguer e195a3c0c6 fix issue #21727 2023-07-21 13:13:56 +02:00
Beat Küng 8b780f2a96 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:13:16 -04:00
Julian Oes a6502c9f2b ROMFS: auto try RGBLED is31fl3195
This is required to auto-start the is31fl3195 driver if connected.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-07-05 20:49:39 +12:00
Josh Henderson a07d10704b ROMFS : POSIX Airframes reserve space for custom models 2023-06-21 21:06:07 -04:00
Julian Oes cd485b3a13 lights: Add LP5562 RGBLED driver
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>
2023-06-06 13:12:44 +12:00
Silvan Fuhrer f0b476bcba ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s
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>
2023-05-29 12:25:20 +02:00
Silvan Fuhrer ee19ec4670 ROMFS: tailsitter SITL config: improve tuning after model changes
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-29 12:25:20 +02:00
Silvan Fuhrer f96073f442 ROMFS: quadtailsitter SITL config: improve tuning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-29 12:25:20 +02:00
Julian Oes 6977fd9956 ROMFS: initial quadtailsitter tuning
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>
2023-05-29 12:25:20 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now
- 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
2023-05-19 18:35:57 -06:00
Alejandro Hernández Cordero be03b7f098 Allow to modify uxrce_dds_client port with a env var
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
2023-05-10 08:17:56 -07:00
Silvan Fuhrer 9c42dcbb0b ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer 87c8f170ae ROMFS: FW simulations: remove re-declaration of params to vehicle default
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer 6fb55a8ad8 ROMFS: remove param RWTO_TKOFF from configs where only set to default again
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer cad61fcb84 ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
alexklimaj 000a3c10e2 Add ADIS16507 params 2023-05-06 17:11:42 -04:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-05-03 11:51:53 -07:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
Silvan Fuhrer b874eaf5f9 VTOL: remove deprecated VT_B_TRANS_THR
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer db379c9049 airframe configs: remove params set to default in custom config from configs
Removes duplication.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer 9975db2d2f airframe configs: disable airspeed CBRK in rover and UUV defaults
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer 88bf18a2fe airframe configs: remove custom tuning if close to param default and not required due to hardware
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer f2c392e187 VTOL configs: reset TECS gains to default
There have been substantial TECS changes lately, and the config files
for custom VTOLs have not been updated since a long time. I would thus
rather use the default TECS gains for lightly maintained configs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Beniamino Pozzan 89a00f9505 rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID
set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-04-17 20:21:05 -04:00
Thomas Stastny 82fd2987c9
fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
TheotimeBlg 67d03461d1
Port px4vision airframe to gz environment (#21409)
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.

* Port of the PX4 Vision gazebo-classic model to Gazebo.

With Gazebo Garden, everything seems functionnal.

* Added airframe for command make px4_sitl gz_px4vision

* revert author field

* Import model from Ignition Fuel instead of defining it directly in the .sdf
2023-04-12 18:46:49 +02:00
Beniamino Pozzan f7ed553f57 holibro qav250 airframe: fix PWM_MAIN_TIM0
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-04-03 07:29:53 +02:00
Daniel Agar 13487c654d
ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410) 2023-04-01 20:41:33 +02:00
Beniamino Pozzan 448b915694
gazebo airframes: cleanup and fix missing parameters (#21411)
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-03-31 23:01:29 -07:00
bresch 89bb4622ef gazebo_tailsitter: disable multi-EKF for replayable logs 2023-03-31 15:22:38 -04:00
Beat Küng 932b743e13 ROMFS: add motor assignment to holybro x500 2023-03-28 08:18:26 -07:00
Beniamino Pozzan c7f67a3328 microdds_client: remove multi-instances supports, add agent IP as PX4 parameter
- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-03-27 10:28:43 -07:00
Silvan Fuhrer 4d2a31afe3 Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-27 17:43:33 +02:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-22 10:05:32 +01:00
Frederic Taillandier 91f6ab865c
ROMFS: fix shellcheck error in px4-rc.simulator (#21282) 2023-03-10 07:37:45 +01:00
Tony Samaritano eb4da990c3 init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables 2023-03-09 09:40:35 -05:00
frederictaillandier eb86cb85b7 removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon 2023-03-09 12:43:47 +13:00
Silvan Fuhrer 0633d0d826 drivers: remove RoboClaw
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-06 09:43:01 -05:00
Jaeyoung Lim e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
2023-03-06 09:27:35 -05:00
Silvan Fuhrer 4be74befd2 VTOL: remove pusher reverse feature
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-06 14:00:02 +01:00
Beat Küng e129534a58 fix ROMFS: add rc.autostart_ext to cmake 2023-03-01 08:53:17 -05:00
Silvan Fuhrer 006321e278 Commander: remove unused param COM_POS_FS_EPV
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-02-24 13:32:38 +01:00
Alejandro Hernández Cordero ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor (#21176)
* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
2023-02-22 19:32:25 +01:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Jaeyoung Lim 3f50bd051f Optionally enable airspeed sensor sim
Enable and disable sensor sim module with parameter
2023-02-15 01:37:32 +09:00
Beniamino Pozzan ea91dbb0f5 gazebo-classic_iris_vision: fix airframe include and default parameters
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-02-14 03:26:56 +09:00
Jaeyoung Lim 65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim
This commit adds the airspeed sensor sim to simulate airspeed sensors
2023-02-13 13:00:39 -05:00
Konrad 6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00
Konrad aa3af7f707 fw_pos_control: purge L1 controller 2023-02-09 17:51:55 +01:00
Beat Küng f05e8a699e
ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
JaeyoungLim 01c5b3934e
Tune GZ plane (rc_cessna) to fly nicely (#21077)
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
2023-02-06 16:24:01 -05:00
Silvan Fuhrer e153d1defc ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-02-04 16:08:40 +01:00
Silvan Fuhrer 9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-02-01 16:47:11 +01:00
Silvan Fuhrer 3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-02-01 16:47:11 +01:00
Benjamin Perseghetti 684b4a4b8a
simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989)
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
2023-01-24 19:01:45 -05:00
JaeyoungLim 644aeb9153
support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939)
* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
2023-01-24 09:22:53 -05:00
Daniel Agar 3f842f01a0
simulator/gz_bridge: split actuator outputs for ESCs and servos (#20979)
- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)
2023-01-21 14:44:09 -05:00
murata c054ca20cc logger: Add arm to shutdown 2023-01-18 07:47:36 +01:00
Daniel Agar 6991ac014c
rename 'gazebo' simulation to 'gazebo-classic' (#20936)
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
2023-01-15 11:36:12 -05:00
murata 82ecbccd85 distance_sensor: Add TF02 Pro I2C 2023-01-14 09:28:33 -05:00
Julian Oes 72d36fc874 sensors: Add param for VL53L0X to startup
It turns out there was no param to enable starting the VL53L0X at
startup.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-01-11 09:52:27 -05:00
Daniel Agar 618288cca9 SITL Gazebo classic make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 97c8a60d67 SITL gz make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar ae4cb24100 SITL flightgear make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 1abe35c220 SITL jsbsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 75125da34c SITL sihsim make airframes simulator specific 2023-01-07 17:00:35 -05:00
Daniel Agar 95a6eba36c SITL jmavsim make airframes simulator specific
-cleanup and simplify jmavsim SITL launch and debug
2023-01-07 17:00:35 -05:00
Daniel Agar 34c57cc5b5 px4-rc.simulator shellcheck fixes 2023-01-04 17:35:41 -05:00
bresch 14bf04b9a4 SIH: add to px4_fmu-v5_default and auto start GPS sim driver
- add simulator kconfig dependencies
 - exclude SIH (+deps) where sufficient flash isn't available
2023-01-04 16:26:15 -05:00
Daniel Agar ca9ae80b10
px4-rc.simulator support launching new Gazebo Garden vs Fortress (#20864)
- "ign gazebo" command is now "gz sim" as of Gazebo Garden
2023-01-04 12:39:06 -05:00
JaeyoungLim 21e88f64b4
Add new fixed wing rate control module (fw_rate_control)
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2023-01-04 11:14:00 -05:00
Daniel Agar f2cd7667dc systemcmds/bsondump: new command line utility (extracted from parameters) 2022-12-21 10:14:00 -05:00
Beat Küng 5217bedd4b commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags 2022-12-14 07:55:04 +01:00
Daniel Agar 72cb4bee01
SITL gz fixes and init cleanup (#20725)
- remove broken gz version handling and remove x500-legacy
 - fix all shellcheck warnings
 - prepare for Gazebo Garden compatibility (needs more work)
2022-12-07 15:41:13 -05:00
Beniamino Pozzan f2c71a8874 microdds_client: added environment variable for defining namespace
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2022-12-07 14:36:23 -05:00
Beniamino Pozzan 5a2e41c4e4 microdds_client: add XRCE_DDS_KEY parameter
Multiple agents can connect to the same client

For sitl builds, if the intance number is different from zero,
  XRCE_DDS_KEY is set to the instance number and
  the microdds_client is automatically started
    with namespace
      px4_"instance_number"
    and udp port 8888
If the instance number is equal to zero
  XRCE_DDS_KEY is left untouched and
  the microdds_client is automatically started
    without namespace
    and udp port 8888

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2022-12-07 14:36:23 -05:00
Beniamino Pozzan a92897fb58 microdds_client: add namespace to partecipant name
The partecipant name is modified into
"client_namespace"/px4_micro_xrce_dds

For sitl builds the microdds_client is automatically started
with namespace
px4_"instance_number"
and udp port
8888+"intance_number"

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2022-12-07 14:36:23 -05:00
Silvan Fuhrer 2b8295e30f FW Position control: switch from L1 to NPFG guidance by default
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-12-06 12:54:58 -05:00
alexklimaj c7a8589afc Add ARK PAB Carrier
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
2022-11-22 18:14:50 -05:00
Thomas Stastny 8157d83bfc ROMFS: remove deprecated runway takeoff param sets 2022-11-22 13:46:25 -05:00
Thomas Stastny 263a1884b1 fixed-wing: explicitly define landing airspeed
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
2022-11-22 13:46:25 -05:00
Silvan Fuhrer 0941ae7579 Navigator: remove MIS_LTRMIN_ALT param, and use new param MIS_LND_ABRT_ALT for landing abort
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>
2022-11-22 13:46:25 -05:00
Silvan Fuhrer 4cd7dfa162 MissionFeasibility: add combined takeoff/landing requirement check
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>
2022-11-21 18:03:21 +01:00
alexklimaj 054a549dae Move uavcan start to end of rcS to prevent sd card read lock 2022-11-14 09:32:10 -05:00
Daniel Agar 5239993c88 ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param 2022-11-08 11:46:41 -05:00
JaeyoungLim a9542baf3c
Enable motor controls for tailsitter VTOLs in fixed wing mode (enable Quad Tailsitters) (#20511)
* Enable motor controls for fixed wing mode in tailsitters

This commit enable motor controls in fixed wing mode for tailsitters

This is needed for enabling quad tailsitters

* VTOL: differential thrust in FW: adapt params to be generic for all axes

Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Integrate differential control bits to three axis control

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-11-07 15:29:14 +01:00
benjinne c5c634be7f
lisXmdl: use I2CSPIDriverConfig (#20506)
- allows to configure the I2C address
- lis3mdl: add 2nd possible address to start
2022-11-01 07:42:27 +01:00