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42694 Commits

Author SHA1 Message Date
Ayham Alharbat 1c1f8da7d9
add a gz-omnicopter model (#21818) 
* [not-working] add a gz-omnicopter model

* Fix axis directions on omnicopter model

The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.

* include model from gz-fuel & remove mesh files

* Fix omnicopter model using fuel

---------

Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
 2023-07-27 11:34:27 +02:00
Konrad e4111a03bf mavlink-mission: Initialize the safepoint and mission counter from the dataman state. 
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
 2023-07-27 07:21:29 +02:00
Konrad aa2c47a56b mission: On an updated mission, don't assume per default that the mission is not valid, use the state from the last mission validation. 2023-07-27 07:21:29 +02:00
Daniel Agar 82962acd5c sensors/vehicle_magnetometer: add mag calibration PX4_DEBUG output 2023-07-26 12:42:51 -04:00
Daniel Agar d65ddbf810
simulation/sensor_gps_sim: lower GPS velocity variance 
- for a multicopter EKF2 default required GPS speed accuracy is 0.5 m/s
 2023-07-26 12:42:18 -04:00
Beniamino Pozzan b9667e955d
[uxrce-dds-client]: add parameter to disable time synchronization between Agent and Client 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-07-26 09:16:29 -04:00
Daniel Agar 56b59dc155 Revert "jenkins ci: listener topic list update" 
This reverts commit 190371c6ee.
 2023-07-25 18:39:28 -04:00
bresch 30d8df7001 mag_check: fix param type 2023-07-25 11:21:05 -04:00
bresch 99309625e8 preflt-chk: report strength and inclination failure values 2023-07-25 11:21:05 -04:00
Daniel Agar 19d6e69b0b
ekf2: allow yaw estimator to perform yaw alignment 
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
 2023-07-25 10:58:45 -04:00
Daniel Agar 6d4ec4e623 Jenkinsfile-compile increase timeout 2023-07-25 10:56:45 -04:00
bresch beb5fc5eb6 ekf-checks: set min and max values for required/failsafe eph 2023-07-24 15:10:07 -04:00
bresch 30bfe0d379 ekf2: remove artificial constraint on position uncertainty growth 
There is no reason to contrsain the position uncertainty, estpecially
when flying with velocitiy aiding only.

Note that all the variances are already contrained to sane values at the
end of the covariance prediction
 2023-07-24 15:10:07 -04:00
Daniel Agar 1ef9ee7622
ekf2: simplify fuseYaw() signature and use consistently 
- make it safe to call for other aid sources, no EKF state is changed unless fusion_enabled
 2023-07-24 10:34:00 -04:00
Daniel Agar 01bcc47fb1
ekf2: apply yaw reset to vision attitude error filter 
- set vision attitude error filter uninitialized if vision data stops
 - ev error filter is only compiled when ev config is selected

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2023-07-24 10:32:33 -04:00
bazooka Joe 190371c6ee jenkins ci: listener topic list update 2023-07-24 10:27:48 -04:00
Junwoo Hwang e626f8666c Geofence: Disable pre-emptive geofence predictor by default (#21657) 
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
 2023-07-24 10:25:31 -04:00
bresch a95c11d48a ekf2-test: add test for inclination of mag earth field 2023-07-24 10:16:37 -04:00
bresch 72be724b86 ekf2: log mag inclination and strength for tuning 2023-07-24 10:16:37 -04:00
bresch 357bf024f6 ekf2-mag: add inclination check 2023-07-24 10:16:37 -04:00
bresch e4a16bfc80 ekf2-mag: rework mag strength check 2023-07-24 10:16:37 -04:00
Daniel Agar e878d0c0ef Jenkinsfile-compile fix invalid boards 2023-07-24 09:50:54 -04:00
Beat Küng 8e8b35dadf px4/fmu-v6x: disable batt_smbus for now to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng 133aeb10a6 mision: only run mission feasibility checks when mission updated 
Instead of also when geofence/safe points updated.
This prevents reporting multiple times.
 2023-07-24 13:10:31 +02:00
Beat Küng 72955221cb fix dataman: treat 0 as valid return for read & ensure to init buffer 
This can happen e.g. when the item is cleared.
 2023-07-24 13:10:31 +02:00
Beat Küng 9aa355a08c HIL: add --ignore-stdout-errors to run_nsh_cmd.py and use for 'tests dataman' 
As this test is expected to contain errors.
 2023-07-24 13:10:31 +02:00
Beat Küng 5c73d24765 boards/px4/fmu-v5/test: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng 05a5bbe120 boards/diatone/mamba-f405-mk2: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng ebd64bfab6 navigator: defer saving mission until disarmed 
Avoids unnecessary dataman accesses
 2023-07-24 13:10:31 +02:00
Beat Küng 16a144c00f navigator: use mission topic to notify about geofence & safe point changes 
This avoids the need to regularly access dataman for checking.
 2023-07-24 13:10:31 +02:00
Igor Mišić de598f3e7e ci: allow tests dataman to pass 
tests dataman will trigger errors and run_nsh_cmd.py
 is not written to detect only when a test fails. This is properly tested with run_tests.py
 2023-07-24 13:10:31 +02:00
Igor Mišić 3d6c376b47 dataman: add guards for max item value 2023-07-24 13:10:31 +02:00
Igor Mišić 904f18f409 boards: remove camera capture and trigger from test builds 2023-07-24 13:10:31 +02:00
Igor Mišić b6b32c5a94 dataman: update compat version 
A version update is needed since the dataman is showing errors if data doesn't exist or if it is wrongly stored. This will force default data to be initialized.
 2023-07-24 13:10:31 +02:00
Igor Mišić 92fc13d928 GeofenceBreachAvoidanceTest: bug fix 2023-07-24 13:10:31 +02:00
Igor Mišić 57f11c8149 dataman: add perf_counter 2023-07-24 13:10:31 +02:00
Igor Mišić c40a38bd88 dataman: remove locking mechanism 2023-07-24 13:10:31 +02:00
Igor Mišić 3143f6bd0a mavlink_mission & mission: move dataman update to mission 2023-07-24 13:10:31 +02:00
Igor Mišić 55d8adb35b mavlink_mission: remove locking mechanism 2023-07-24 13:10:31 +02:00
Igor Mišić d5ecfe0efe dataman_client: increase px4_poll timeout to 100_ms 2023-07-24 13:10:31 +02:00
Igor Mišić d1b660b104 rtl: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić 4038eeec3e geofence: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić e14216c6c7 dataman_client: prevent loading duplicates in the cache 2023-07-24 13:10:31 +02:00
Igor Mišić 80409672b1 mission: integrate dataman cache 2023-07-24 13:10:31 +02:00
Igor Mišić 6453a1c311 datamanClient: add Doxygen documentation for the API. 2023-07-24 13:10:31 +02:00
Igor Mišić 1e49eb419d datamanClient: add DatamanCache class 2023-07-24 13:10:31 +02:00
Igor Mišić e6cc3d0118 datamanClient: add async functions 2023-07-24 13:10:31 +02:00
Igor Mišić 208552fdab dataman: add DatamanClient with sync functions 
Rework of dataman
 2023-07-24 13:10:31 +02:00
Igor Mišić c67af1479f dataman: refactoring _file_initialize 
clear dataman file and init initial value on creation
 2023-07-24 13:10:31 +02:00
Igor Mišić 7563ddd91f navigator: increase stack size by 208 bytes 2023-07-24 13:10:31 +02:00