Beniamino Pozzan
64257391c6
[uxrce_dds_client] Allow for arbitrary topic instances to be bridged
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
2023-11-25 21:22:15 +00:00
Konrad
6a34b63b60
mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed
2023-11-24 08:11:41 +01:00
Konrad
5e1f0b73ce
HomePosition: Add an instance counter
2023-11-24 08:11:41 +01:00
Konrad
3ac7ed6afa
mission_base: Do not reset mission on invalid mission upload
2023-11-24 08:11:41 +01:00
Konrad
a92e7a8796
missionResult: remove unnecessary constants and rename instance_count to mission_update_counter
2023-11-24 08:11:41 +01:00
Beat Küng
7afa011741
mavlink_mission: publish mission after updating dataman
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This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
2023-11-24 08:10:07 +01:00
Beat Küng
93cae5f9d7
mission: fix comparison logic for saving mission state
2023-11-24 08:10:07 +01:00
Matthias Grob
8271faedeb
control_mode: reorder modes according to controller cascade
2023-11-23 20:35:48 +01:00
Matthias Grob
6e31638817
control_mode: add allocation to orbit mode to not crash
2023-11-23 20:35:48 +01:00
Silvan Fuhrer
a99a7d2abd
vtol: always check for EKF2 resets, not just when QC is checked
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-23 13:54:07 +01:00
Silvan Fuhrer
eae939d86c
vtol_type: transition altitude loss quad-chute: handle z resets
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-23 13:54:07 +01:00
Julian Oes
fbc95ff4bd
Add I2C driver launcher
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This is just a first draft of the launcher part.
Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-22 22:19:52 -05:00
Beniamino Pozzan
742d237ae3
[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint
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actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
2023-11-22 22:14:50 -05:00
Beniamino Pozzan
1c8f31f339
[offboard] add thrust and torque control mode
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New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.
New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.
Removed old direct mode.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
2023-11-22 22:14:50 -05:00
Jacob Dahl
6cc38776c8
src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME ( #22290 )
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* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
2023-11-22 22:06:11 -05:00
Silvan Fuhrer
e280a6c6e6
Navigator: Geofence: always run geofence_breach_check(), not only only on pos update
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
ade68aa563
Navigator: Geofence: stay in GF breached mode when in Loiter due to breach
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Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f2aabe968e
Geofence: add checks for custom GF validity when uploading it
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- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
2865bbb8ab
Geofence: rework messaging and notification
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- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
3c194d552a
Geofence: rework the way to check all GF at once
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
a41f24a2e2
geofence_result.msg: rename premove unused field home_required
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
b178c943a6
GeofenceBreachAvoidance: remove unused variables and methods
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
c0f26c8fbd
mission_feasibility_checker.h: remove unused Geofence class
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
563bfbf6e7
Geofence: remove GF_COUNT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
fd709e05b0
Geofence: remove GF_ALTMODE
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f3eacb4844
Geofence: fix status print
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer
f8f4ea2fee
MissionFeasibilityCheck: rename checkGeofence to checkMissionAgainstGeofence()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Daniel Agar
56bfe41f10
drivers/ins/vectornav: publish estimator_status (only in VN_MODE 1)
2023-11-22 21:42:27 -05:00
PX4 BuildBot
c497a25bea
Update submodule libevents to latest Thu Nov 23 00:39:07 UTC 2023
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- libevents in PX4/Firmware (15667a5c6b927ab177c6912058475eb5fac26c4c): a9a3fc07ab
- libevents current upstream: 59f7f5c0ec
- Changes: a9a3fc07ab...59f7f5c0ec
59f7f5c 2023-09-26 Beat Küng - cpp/parse: avoid using ssize_t as it's not available on Windows
1617b4e 2023-09-26 Beat Küng - cpp: enable Werror, Wall, Wextra, Wconversion, Wpedantic & fix
e2979e6 2023-09-26 Beat Küng - refactor python/parser: some whitespace & formatting updates
e2e8011 2023-09-26 Beat Küng - python/parse: add callback to escape message & description
baa93a4 2023-09-26 Beat Küng - cpp/parse: add callback to escape message & description
d10aecd 2023-09-26 Beat Küng - refactor tests/parser: move tests to method
1aaa597 2023-09-26 Beat Küng - run_ci.sh: ensure cmake uses unix makefiles
9b3c897 2023-09-25 Beat Küng - refactor parser tests: use gtest
2023-11-22 21:40:48 -05:00
Julian Oes
976cd67f71
logger: increase default GPS rate
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Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-22 21:30:31 -05:00
David Sidrane
eefc6a0027
px4io:Added help text for supported command
2023-11-22 14:29:49 -05:00
GuillaumeLaine
ab867b963c
dds_topics: Adds missing data reader
2023-11-22 10:42:05 +00:00
GuillaumeLaine
f3e85219a3
dds_topics: Adds handling for empty yaml fields
2023-11-22 10:42:05 +00:00
GuillaumeLaine
85c75aedd1
dds_topics: Adds multi publication to subscribed dds topics
2023-11-22 10:42:05 +00:00
bresch
e568b4a1d7
replay: increase buffer size
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required to parse larger topics
2023-11-21 21:56:34 -05:00
bresch
6320ca64a9
ekf2-terr: allow range fusion before takeoff
2023-11-21 21:56:34 -05:00
bresch
0f3378e194
ekf2: fix terrain range finder logging
2023-11-21 21:56:34 -05:00
bresch
1c3a1183c8
ekf2-flow: refactor control logic
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Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
2023-11-21 21:56:34 -05:00
alexklimaj
5f8ecd6b40
driver: ina2** allow 3 indexes
2023-11-21 21:44:39 -05:00
Roman Bapst
dd2322d622
Added PerformanceModel for fixed wing ( #22091 )
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* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
2023-11-21 17:13:50 +01:00
Silvan Fuhrer
70cd224236
EKF2 params: remove wrong horizontal keyword and gps-->GNSS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-21 15:23:33 +01:00
bresch
c7672fc68c
ekf2-params: delta vel/ang -> accel/gyro
2023-11-20 20:10:16 -05:00
Julian Oes
a501262a6b
icm45686: fix dt (and usage command)
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With the wrong dt, the flight behaviour was really poor and noisy, so
this fix is absolutely required.
Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-21 07:44:00 +13:00
alexklimaj
1b99e7df81
px4io: change not supported message to INFO instead of ERR
2023-11-20 08:54:32 -05:00
David Sidrane
8f02184669
px4io:Add 'supported' command and uses it in rcS
2023-11-20 08:54:32 -05:00
Matthias Grob
9bed8f48c7
Remove LNDMC_ALT_MAX
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This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
2023-11-20 14:52:35 +01:00
PX4 BuildBot
fd4d635035
Update submodule mavlink to latest Sun Nov 19 12:39:21 UTC 2023
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- mavlink in PX4/Firmware (e819620173822548d05b6f309c615b48eda9261c): 81524c2b34
- mavlink current upstream: 70181c42fc
- Changes: 81524c2b34...70181c42fc
70181c42 2023-10-12 Hamish Willee - MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET - set units to deg
f484eaf8 2023-10-11 Hamish Willee - Update test_and_deploy.yml - drop node 12 (#2041 )
44197849 2023-10-11 tom - Cleanup of typos and inconsistencies in common.xml (#2044 )
b295e70e 2023-09-28 Hamish Willee - Update ardupilotmega.xml - delete SPEED_TYPE (#2042 )
e8d796a4 2023-09-27 Hamish Willee - SPEED_TYPE enum for MAV_CMD_DO_CHANGE_SPEED (#2039 )
c313a2f3 2023-09-23 Asif Khan - common: Add camera instance field to MAV_CMD_IMAGE_START/STOP_CAPTURE (#2024 )
cad18c56 2023-09-20 Marcin - Add VELOCITY_LIMITS msg (#2015 )
2023-11-19 11:51:35 -05:00
Daniel Agar
58d6d03da3
Update submodule devices to latest Sun Nov 19 12:39:11 UTC 2023
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- GPS drivers in PX4/Firmware (0f7a34a64dd69ad074b47726eedeef147fe0f700): b443b79f57
- GPS drivers current upstream: 6e452c2c5b
- Changes: b443b79f57...6e452c2c5b
6e452c2 2023-10-27 Robbie Drage - move NO_MKTIME compilation flags - removes dependency on tm struct being defined without MKTIME - removes unnecessary operations
Co-authored-by: PX4 BuildBot <bot@px4.io>
2023-11-19 11:49:39 -05:00
Braden Wagstaff
35e13a908e
DDS Add battery_status publisher
2023-11-18 11:06:02 +00:00
alexklimaj
42d70808e9
uxrce add manual control input subscriber
2023-11-18 11:06:02 +00:00