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px4-firmware
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43572 Commits

Author SHA1 Message Date
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
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
Daniel Agar b2b7439060
ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571) 
* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-02-23 15:40:00 +01:00
bresch 37a40d3fc2 baro static pressure compensation tuning: remove dependency to baro bias 
`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
 2024-02-23 10:07:13 +01:00
Sergei Grichine b405d75553
Added Zero Turn Lawnmower model (#22717) 
* Added Lawnmower airframe

* Update 5005_gz_lawnmower

Works all right

* Update 5005_gz_lawnmower

RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED

* Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower

Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>

* Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>

* Renamed 5005_gz_lawnmower to 4011_gz_lawnmower

also pulled latest GZ models hash

---------

Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
 2024-02-22 15:30:12 +01:00
Matthias Grob 4e3bd4f196 MAVSDK tests: shorten Position, Altitude control flights 
We get more than 5 meter away much quicker.
 2024-02-22 15:29:13 +01:00
Matthias Grob 0cc4b41a51 MAVSDK test: Fix fly_forward_in_altctl() timing 2024-02-22 15:29:13 +01:00
Matthias Grob f602228048 MAVSDK test: increase offboard position threshold 
This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
 2024-02-22 15:29:13 +01:00
PerFrivik 9b122adae4 Fix fly_forward_in_posctl() timing 2024-02-22 15:29:13 +01:00
Eric Katzfey 1ec0ba4736 Added param system command to voxl2 slpi build 2024-02-21 11:54:02 -05:00
Eric Katzfey 8da8b88a54 Fixed and added Qurt platform dsp_hitl driver 2024-02-21 11:54:02 -05:00
Eric Katzfey be08c57a0a Changed order of service startup in SLPI DSP muorb since parameter library now needs work queues 2024-02-21 11:54:02 -05:00
Eric Katzfey a436a8f3b8 Fixed unresolved symbol error for qurt platform due to missing sbus library 2024-02-21 11:54:02 -05:00
Eric Katzfey 5ad0e68d8e Fix build error for Qurt platform in pab_manifest.c 2024-02-21 11:54:02 -05:00
Eric Katzfey f07eeaa776 Added special muorb startup ordering in px4_init for posix platform 2024-02-21 11:52:24 -05:00
Daniel Agar 506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL) 2024-02-21 09:45:44 -05:00
Niklas Hauser 643d3e3bf3 Navigator: Prevent busy-looping if Dataman read/write times out 
MissionBase did not initialize its mission data, thus could enter an
infinite loop in updateDatamanCache() if the initMission() failed to
read the mission off, for example, due to the SDCard storage task taking
longer than the timeout to respond.

This change constrains the loading loop and resets the mission data even
if the data write failed.
 2024-02-21 13:31:43 +01:00
Daniel Agar 8243b4f474 ekf2: move vel/pos reset helpers 2024-02-20 13:16:24 -05:00
Daniel Agar 22b957696d ekf2: velocity/position fusion helper minor consistency cleanup 2024-02-20 13:16:24 -05:00
Daniel Agar c338891677 ekf2: split vel_pos_fusion.cpp 2024-02-20 13:16:24 -05:00
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
 2024-02-20 13:16:24 -05:00
Daniel Agar 021dd0d0af ekf2: fix EV height bias predict call 
- needs to be called every iteration
 2024-02-20 11:47:53 -05:00
bresch c221da27a7 ekf2: set attitude validity flag using centralized function 2024-02-20 11:33:30 -05:00
Matthias Grob 51fe4351c6 StickTiltXY: Fix too high maximum tilt problem 
And add unit tests.
 2024-02-20 14:27:49 +01:00
Silvan Fuhrer 8a75733511 Navigator: fix VTOL land waypoint calculation 
The setpoint.yaw can be NAN, and this made the calculated land point NAN
as well. Looking at the current yaw is anyway a better way to approximate
the course over ground that fundamentally should be used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-19 14:54:28 +01:00
Daniel Agar 1032dd3470 ekf: fix measurementUpdate comment typo 2024-02-19 09:41:49 +01:00
Konrad 424c3cd2cb FeasibilityChecker: Add new TakeoffLandAvailable option 
ADd a new misison feasiblity checker option to check if a proper landing approach is defined when in air. There must be at least a mission landing or a VTOL approach defined in order for the mission to be accepted. Else, use the same logic as in MIS_TKO_LAND_REQ=4
 2024-02-16 10:27:22 +01:00
Konrad 68100650da RTL: publish a status message on currently chosen RTL point 2024-02-16 10:27:22 +01:00
Cyril C 74303a79e1
drivers/batt_smbus: fix BQ40Z80 timeout problem (#22751) 
Co-authored-by: cyril.calvez <c.calvez@elistair.com>
 2024-02-15 13:24:40 -05:00
Daniel Agar 8dc3975456
ekf2: only populate gnss pos aid src status if ref initialized 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
 2024-02-15 13:13:10 -05:00
Matthias Grob 84a7d42566 rover build: correct differential drive kconfig name 2024-02-15 10:08:51 -05:00
Matthias Grob f26df8492f Update GPS drivers to contain the astyle fix 2024-02-15 15:23:06 +01:00
Konrad cb09dde606 FixedwingPositionControl: Used corrected npfg roll output in path mode 2024-02-13 17:17:44 +01:00