With this margin it is made sure that if the loiter is not perfectly tracked,
(vehicle outside of path setpoint) a wp just at the border of the loiter
is still reachable.
It should though be as small as necessary, as otherwise, with good
loiter tracking, waypoints that are close but not right on the loiter
radius are not enforcing the exit course neither.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* PositionSetpoint: remove yaw_valid field
* Navigator: set yaw setpoint to NAN for Takeoff
Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset.
The yaw setpoint generation is handled by FlightTaskAuto.
* PositionSetpoint.msg: remove disable_weather_vane and instead only use the yaw field
Strictly follow the concept that if the position_setpoint.yaw is set, then
follow it the controller, and otherwise let the controller set it as it
thinks it's best.
* Navigator: remove logic that sets yaw to be accepted in TAKEOFF
No longer needed as during Takeoff we anyway don't set a yaw setpoint.
* PositionSetpoint.msg: remove yawspeed_valid
* PositionSetpoint.msg: remove yawspeed
* Navigator: set yaw setpoint to NAN instead of current
In set_takeoff and set_land_item, as well as for VTOL transition.
The flight tasks then set the yaw corresponding to the current yaw.
* Navigator: change get_yaw_acceptance into a bool
* PositionSetpoint.msg: improve comment for yaw
* MissionBlock: remove unnecessary code from set_vtol_transition_item
* Navigator: clean up calculate_breaking_stop(), set yaw to NAN
* Navigator: set yaw to NAN in variouls places where not specifc setpoint is desired
* Navigator: set yaw to NAN in reset_position_setpoint()
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
1s gives some false positives at boot up, as the airspeed selector only
starts publishing 2s after its startup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-remove dedicated vtol transition airspeed init logic
-init airspeed setpoint on first usage of tecs
-init to max of current airspeed and min airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* events: pass relative paths plus base path to source parser script
to work around maximum Makefile command lenght limits.
* events: correct cmake comment typo
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
The _control_mode_current wasn't updated otherwise, and only done so by luck
because we already set the current type to SETPOINT_TYPE_POSITION.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- double required max consecutive counts
- don't continuously complain about round trip time (RTT) unless
there's been at least one acceptable round trip (latency < 100 ms)
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec
With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.
It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
David Sidrane
muramura
Daniel Agar
Peter van der Perk
Silvan Fuhrer
Matthias Grob
PerFrivik
bresch
MaEtUgR
Beniamino Pozzan
Frederik Markus
jamming
oystub
Niklas Hauser