dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
43,215 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

43215 Commits

Author SHA1 Message Date
Daniel Agar 3d7f6ea09c WIP: output modules native units 2023-12-05 15:30:06 -05:00
Matthias Grob d259386987 arch: python requirements fix, jdk comes with ant 2023-12-05 12:06:56 -05:00
Matthias Grob 14c4257a59 ActuatorEffectivenessRotors: Use modern parameter interface for rotor count 
This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
 2023-12-05 12:06:56 -05:00
Matthias Grob b71c6fb6ea arch: update to use pacman's arm-none-eabi 
which is currently GCC 12.2
 2023-12-05 12:06:56 -05:00
Matthias Grob adb22f1407 spi: put brackets such that GCC12 considers it a pointer for sure 
otherwise you get the warning/error px4_spi_buses can never be NULL
 2023-12-05 12:06:56 -05:00
Matthias Grob 0c97b0f4b0 ubuntu: usermod -aG instead of -a -G 
It's well documented everywhere that this command does and
it's commonly used with exactly these two parameters together
and in that order.
 2023-12-05 12:06:56 -05:00
bresch 5ca22df55c ekf2-pos bias estimator: use enum 2023-12-05 11:22:59 -05:00
bresch a3515a2474 ekf2: scope HeightSensor enum 2023-12-05 11:22:59 -05:00
bresch 6bd1145006 ekf2: scope RngCtrl enum 2023-12-05 11:22:59 -05:00
bresch 1df52df27d ekf2: scope GnssCtrl enum 2023-12-05 11:22:59 -05:00
bresch 97423136d1 ekf2-AGP: scope control enum 2023-12-05 11:22:59 -05:00
Beat Küng c5101c70b3 uorb: enure message definitions don't exceed buffer lengths & increase test buffer 
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
Konrad df46ad7774 Dcm2: Use std::sin with overloaded types 2023-12-05 10:42:23 +01:00
Konrad d1b8a2e8d5 fxedwingPositionControl: Add slew rate at the end for all mode instead inside each 2023-12-05 10:42:23 +01:00
Konrad ae3aee3402 fw param: reduce default COM_VEL_FS_EVH to warn earlier when velocity uncertainty increases 2023-12-05 10:42:23 +01:00
Konrad 1d07697a9e NPFG: Add fallback for corner cases 2023-12-05 10:42:23 +01:00
Matthias Grob 1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00
Matthias Grob 4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
Matthias Grob d8d2213cab mavlink streams: add SYSTEM_TIME to onboard low bandwidth 
It's required with 2Hz by some MAVLink enabled payloads.
 2023-12-01 11:02:37 -05:00
Matthias Grob 9184a8f4ef mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth 2023-12-01 11:02:37 -05:00
Matthias Grob 3ceb932b7c mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth 
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
Matthias Grob 938be68c69 mavlink streams: add gimbal orientation feedback to normal stream 
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
Silvan Fuhrer b0df7c7ccb RTL/Land: set gimbal to neutral to reduce change of damage 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Silvan Fuhrer 789b3880cf Mission: set gimbal to neutral on inactivation 
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
Silvan Fuhrer 0d8ba587ca Mission: set gimbal to neutral before landing item 
To reduce risk of damage during landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Silvan Fuhrer 178ea132b6 Navigator: add set_gimbal_neutral() functionality 
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
bresch fe7988672f ekf2: auxiliary position fusion 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-12-01 11:50:22 +01:00
Silvan Fuhrer aaefc36cad airframes: remove 4900_crazyflie 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Silvan Fuhrer 6c9af2e0ec airframes: remove 4040_reaper 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Silvan Fuhrer 6b4fca1b9d px4vision configs: remove params that are just set again to default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Matthias Grob d85aaf4dfd v5x/v6x: save flash by not compiling analog OSD by default 2023-11-30 17:16:02 +01:00
Matthias Grob 82c422b818 fmu-v5x: don't build roboclaw driver by default 
it's not used that often and for rovers only.
 2023-11-30 17:16:02 +01:00
Matthias Grob 8bb20db7da GotoControl: Save flash 2023-11-30 17:16:02 +01:00
Matthias Grob 7b4712cb29 sensor_simulator: initialize VelocitySmoothing with desired limits 2023-11-30 17:16:02 +01:00
Matthias Grob d014d76ca7 HeadingSmoothing: set correct maximum heading 
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
Matthias Grob 5a2efc1cb2 GotoControl: remove dependency on PositionControl 
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
Matthias Grob c853acc2ff GotoControl: also provide maximum velocity to position smoother 2023-11-30 17:16:02 +01:00
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
befbb6b106c4c04933222ecb205f001fd77fa85f
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