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43328 Commits

Author SHA1 Message Date
Matthias Grob d1e8bdbd16 GotoControl: rename yaw rate acceleration parameter 
such that not only one letter differs to MPC_YAWRAUTO_MAX
 2023-11-30 17:16:02 +01:00
Matthias Grob dc7f9165d1 logged_topics: fix goto_setpoint name 2023-11-30 17:16:02 +01:00
Matthias Grob 3de6fee07f GotoControl: make interface over uORB 2023-11-30 17:16:02 +01:00
Matthias Grob 96a81c22e3 GotoControl: simplify configuration wrapping 2023-11-30 17:16:02 +01:00
Matthias Grob 439d6c61e0 Revise GotoControl 2023-11-30 17:16:02 +01:00
Matthias Grob 14b8afe972 PositionSmoothingTest: remove duplicate vector comparison 2023-11-30 17:16:02 +01:00
Matthias Grob 591845bb41 HeadingSmoothing: rename, simplify, add cpp 2023-11-30 17:16:02 +01:00
Matthias Grob be05b3e8d7 helper_functions: include defines for M_PI_PRECISE 
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
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
 2023-11-30 17:16:02 +01:00
Matthias Grob efb325d25d motion_planning: remove deprecated separate test 
It's functionality probably broke already in
befbb6b106
and the tests are now covered by
VelocitySmoothingTest.cpp
 2023-11-30 17:16:02 +01:00
Matthias Grob 53076b9863 PositionSmoothing: guard division by zero 
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
Matthias Grob 11cca72ef1 VelocitySmoothing: fix division by zero cases 
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
Matthias Grob 6f295d91d1 Revert "motion_planning: sanitize inputs to position and velocity smoothing libs" 
This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
 2023-11-30 17:16:02 +01:00
Matthias Grob 14785eeb47 GotoSetpoint message: reorder flag directly before value 2023-11-30 17:16:02 +01:00
Thomas Stastny 4b920a6628 GotoControl: add go-to control interface to mc position controller 
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
Thomas Stastny e47aba8bc9 msg: add go-to setpoint interface 2023-11-30 17:16:02 +01:00
Thomas Stastny 72a811a4b3 motion_planning: add heading smoother lib 
wraps the velocity smoother, but is intended for generating smooth heading trajectories
handles angle wrap
 2023-11-30 17:16:02 +01:00
Thomas Stastny 80dd7e4806 motion_planning: sanitize inputs to position and velocity smoothing libs 2023-11-30 17:16:02 +01:00
Beat Küng f69636feef fix msg: add_custom_command needs to depend on files instead of custom_command target name 
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
frederik 3b041ef8d4 empy version fixed to 3.3.4 
Signed-off-by: frederik <frederik@auterion.com>
 2023-11-30 10:07:27 -05:00
Jukka Laitinen 9d465615d1 src/drivers/sw_crypto: Fix buffer lengths for xchacha20 crypto 
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
PX4 BuildBot c2345ac5b3 Update world_magnetic_model to latest Wed Nov 29 11:14:09 UTC 2023 2023-11-29 20:55:05 -05:00
PX4 BuildBot 33a3e568bb boards: update all NuttX defconfigs 2023-11-29 20:54:34 -05:00
PX4 BuildBot afe110cca1 update all px4board kconfig 2023-11-29 20:54:10 -05:00
Jacob Dahl e627fe01dc UXRCE_DDS_SYNCC default 0 2023-11-29 20:53:01 -05:00
Konrad 42ce9eb692 mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded. 2023-11-29 11:10:40 -05:00
Konrad 36f0c0f0bf mavlink-mission: Add support for opaque ids and replace update counter with it 2023-11-29 11:10:40 -05:00
Konrad 120e7fea8b mavlink: update submodule including opaque ID 2023-11-29 11:10:40 -05:00
Frederik Markus f00d97d974
removal of PX4_GZ_MODEL env variable and fix of ground glitching (#22400) 
Removal of PX4_GZ_MODEL env variable and fix of ground glitching

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-29 09:08:04 +00:00
alexklimaj 59abab8379 sensors: add parameter to silence imu clipping 2023-11-28 11:57:14 -05:00
Daniel Agar a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-28 11:04:02 -05:00
PerFrivik befbc19a4a Roboclaw: Updated parameter prefix for roboclaw output module 2023-11-28 16:30:17 +01:00
PerFrivik c84185af96 Roboclaw: Fixed issue where parameters had different prefixes 2023-11-28 16:30:17 +01:00
PerFrivik 9ce090f2da Roboclaw: Fix CI pr issue 2023-11-28 16:30:17 +01:00
PerFrivik 7c45093908 Roboclaw: Updated yaml file to support Roboclaw Driver in QGC 2023-11-28 16:30:17 +01:00
PerFrivik bea00f62c9 Roboclaw: Changes in r1 airframe, removed hardcoded port configurations 2023-11-28 16:30:17 +01:00
PerFrivik 3a7f2f8bce Roboclaw: Accidentally removed a parameter 2023-11-28 16:30:17 +01:00
PerFrivik de9074558b Roboclaw: Updated Airframe and fixed left and right mapping error 2023-11-28 16:30:17 +01:00
PerFrivik 09d30568ab Roboclaw: Consistent Left & Right naming convertion with Differential Drive class 2023-11-28 16:30:17 +01:00
Matthias Grob f53edfa440 Roboclaw: major cleanup 2023-11-28 16:30:17 +01:00
Matthias Grob c27181a154 Rename RoboClaw -> Roboclaw 
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
 2023-11-28 16:30:17 +01:00
Matthias Grob 87683aa790 Roboclaw: move parameters to module.yaml 2023-11-28 16:30:17 +01:00
Matthias Grob 8f4ce28e84 RoboClaw: declutter, make it compile again 2023-11-28 16:30:17 +01:00
Matthias Grob 5b4031356e RoboClaw: fix style 2023-11-28 16:30:17 +01:00
Per Frivik 9409646a89 Update RoverPositionControl.cpp 2023-11-28 16:30:17 +01:00
Per Frivik e9810e7be6 Update WheelEncoders.msg 2023-11-28 16:30:17 +01:00
Per Frivik dd9c1c02d1 Delete msg/ActuatorControls.msg 2023-11-28 16:30:17 +01:00
Per Frivik a6b2bcd166 Update msg/CMakeLists.txt 
Remove ActuatorControls.msg

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-11-28 16:30:17 +01:00
PerFrivik a40120c332 Roboclaw: Integrated OutputModuleInterface including a large code refactor 2023-11-28 16:30:17 +01:00
PerFrivik 86e5561a64 Roboclaw: Fixed issue when power cylcing the roboclaw where the driver would not connect 2023-11-28 16:30:17 +01:00
PerFrivik 524fa73ad3 Roboclaw: rough refactor, removed repetitive code, simplified and clarified logic and error handeling 2023-11-28 16:30:17 +01:00