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43553 Commits

Author SHA1 Message Date
Daniel Agar f8a8675e2d ORB queue depth completely static 2024-03-08 10:47:43 -05:00
Daniel Agar 600b0e6704 Merge remote-tracking branch 'px4/main' into pr-modalai-muorb-updates 2024-03-08 10:08:36 -05:00
Silvan Fuhrer 7884e0a3f7
Navigator: remove vtol_takeoff special handling for RTL (#22844) 
We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-08 11:40:14 +01:00
Silvan Fuhrer f799141a19
FW Pos Controller: do not publish roll angle constrained warning if landed (#22850) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-08 09:40:43 +01:00
Eric Katzfey e20215087f Moving from Qurt specific icm4266p driver to mainline version 2024-03-07 21:14:49 -05:00
bresch 0d0978b3b9 ekf2: update change indicator 2024-03-07 11:06:31 -05:00
bresch 0639f5370c ekf2: fix mag and wind covariance prediction 2024-03-07 11:06:31 -05:00
bresch 2bacb4b65d ekf2: update change indicator 2024-03-07 15:11:47 +01:00
bresch 421f13e4b5 ekf2: fix joseph covariance update for Schmidt-Kalman filter 
If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
 2024-03-07 15:11:47 +01:00
Silvan Fuhrer 1e253a9626
VTOL: treat Descend mode as Land (#22843) 
* vtol_type: enable pusher assist also in Descend mode

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

* vtol_type: treat Descend as Land for pusher assist

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-07 10:22:25 +01:00
cuav-liu1 bb5efa5577 ICP201: increase config delay 2024-03-06 21:20:51 -05:00
Daniel Agar 1c741836c0 sensors/vehicle_imu: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 8b6c70e0f2 sensors/vehicle_angular_velocity: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 1fc38aab92 sensors/vehicle_air_data: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 2bf1eeb003 sensors/vehicle_acceleration: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar 87960c04d8 mag_bias_estimator: sensor update loop limit iterations 2024-03-06 21:19:38 -05:00
Daniel Agar d96970a2b9 sensor/vehicle_magnetometer: sensor update loop limit iterations 
- place upper bound to prevent looping indefinitely (high publish rate, etc)
 2024-03-06 21:19:38 -05:00
Silvan Fuhrer c5835a48de
FW Position Controller: do not publish roll angle constrain warning in VTOL transition (#22842) 
* FW Position Control: some cosmetical changes

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

* FW Position Control: disable roll constraining warning in VTOL transition

In transitions it is expected that the roll is constrained, and
instead of defining an aribitrary threshold let's rather disable
the user warning in that case.

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

* FW Pos C: define magic numbers for roll constraining warning as constants

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-06 15:51:54 +01:00
bresch 6f9a378247 yaw_est: force set gyro bias when at rest 
The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
 2024-03-05 14:00:06 -05:00
PX4 BuildBot 67e68783cf Update submodule gz to latest Tue Mar 5 12:39:22 UTC 2024 
- gz in PX4/Firmware (5f8f0213a807d327a30a7df05e58f7887cf936ab): 2228336568
    - gz current upstream: 6b4ed09d1b
    - Changes: 2228336568...6b4ed09d1b

    6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34)
953e02b 2024-02-22 frede791 - add imu sensor model noise
 2024-03-05 13:59:22 -05:00
Peter van der Perk d1ae242a91 v6x-rt: fix rover build regression 2024-03-05 10:21:41 -05:00
Peter van der Perk 9cef834624 fmu-v6xrt: update px4board enables vtol 2024-03-05 08:18:44 -05:00
Sihyun Noh 23a41299fa
mag calibration: minor cleanup (#22830) 2024-03-05 09:00:08 +01:00
Niklas Hauser 0186d687b2 Add minimal Skynode RC13 config to the PAB manifest 2024-03-04 13:33:20 -05:00
Peter van der Perk d28653b605 nuttx: update apps 2024-03-04 13:32:36 -05:00
Peter van der Perk 87d79aeb75 netman: generate default config if file doesn't exist 
ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist.
On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well.
 2024-03-04 13:32:36 -05:00
Matthias Grob 1bd65f8beb mantis-edu: remove duplicate RC define 2024-03-04 13:30:28 -05:00
Peter van der Perk e0b49afe81 bmp388: Driver print out start BMP390 identifier when detected 2024-03-04 02:05:37 -05:00
Don Gagne f02b44bec5 Update to latest sitl gazebo camera 2024-03-03 12:18:02 +13:00
Eric Katzfey dd67766f6c Made setting of queue size in orb node based on topic definition 2024-03-01 14:18:52 -08:00
Eric Katzfey 4a043a80f1 Fixed error in macro definition 2024-02-27 20:12:59 -08:00
Eric Katzfey bb617a1a56 Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-modalai-muorb-updates 2024-02-27 19:57:46 -08:00
Eric Katzfey 01de368616 Removed libfc sensor from format checks 2024-02-27 19:56:59 -08:00
Eric Katzfey 76352765b6 Fixes to the ModalAI muorb implementation 2024-02-27 19:56:17 -08:00
bresch 28db3e1c8c ekf2: update change indicator 2024-02-27 12:33:43 -05:00
bresch e9d43015ce ekf2: fix unit tests failing due to mag fusion changes 2024-02-27 12:33:43 -05:00
bresch b46fc9a67d ekf2 sensor_sim: set correct world mag field 2024-02-27 12:33:43 -05:00
bresch b80f15f7b5 ekf2-mag_auto: always use mag 3D after takeoff 2024-02-27 12:33:43 -05:00
Silvan Fuhrer 086656dc7f
FW Attitude Controller: fix manual yaw rate setpoint limit (#22812) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-27 17:23:13 +01:00
bresch 051baec9c4 ekf2: allow wind dead-reckoning after manual position reset 
Reset velocity using airspeed and start navigating
 2024-02-27 09:34:05 -05:00
Matthias Grob 2491548a0f Jenkinsfile: correct typo, missing comma 
Introduced in
2c81c9fdea
 2024-02-27 13:32:46 +01:00
DanielePettenuzzo 18f96c16ce fix gimbal driver for mavlink gimbal v2 input and AUX output 
The main problem was that during initial negotiation the client would
request the gimbal_manager_information from px4 but px4 would never send
it because in this configuration the device_compid was set to 0.
 2024-02-27 09:53:25 +01:00
GuillaumeLaine 63495ddac3 geo: correct unit test 2024-02-27 09:05:39 +01:00
Peter van der Perk efbbd64ec0 fmu-v6xrt: Increase lpwork stack size 2024-02-26 14:01:56 -05:00
Daniel Agar 8001132d33 ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement 2024-02-26 12:32:59 -05:00
bresch 08a2a6c836 update EKF2 change indicator 2024-02-26 12:32:59 -05:00
bresch d501d8e1d4 ekf2: use Joseph stabilized update in direct state observations 2024-02-26 12:32:59 -05:00
bresch 9d9766c6cf ekf2: use Joseph stabilized covariance update 2024-02-26 12:32:59 -05:00
makekam d988005216 Update injectxmlparams.py 
Add extraction of Boolean attributes in injectxmlparams.py.
 2024-02-23 11:06:05 -05:00
Silvan Fuhrer 5dfdf8c071 matrix: remove bold printing of diagonal elements 
As this was not working in NSH.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-23 11:05:09 -05:00