f5edff2647
ekf2 - preflt checks: scale flow innovation checks
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Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
2023-07-11 08:18:32 -07:00
672b29d555
ekf2: report dist bottom also when using flow for terrain
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Terrain height can be estimated using a range finder and/or optical flow
2023-07-11 08:18:32 -07:00
03528a6200
Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground
2023-07-11 08:18:06 -07:00
bca0be47bc
Apply code review changes from @dagar
2023-07-11 08:18:06 -07:00
9511248514
Removed the huge HAGL fuse timeout increase
2023-07-11 08:18:06 -07:00
f5d9ac4526
Cleaned up some comments and debug code
2023-07-11 08:18:06 -07:00
56c794108d
actual fixes for velocity estimate errors and bad rng fusion
2023-07-11 08:18:06 -07:00
2dcb525cd9
RCUpdateTest: RC switch correct corner case test value
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Co-authored-by: Junwoo Hwang <junwoo091400@gmail.com>
2023-07-11 15:58:48 +02:00
42fa41e601
rc_update: fix on-off-switch with negative threshold values
2023-07-11 15:58:48 +02:00
1fa5136e30
RCUpdateTest: add unit test for return switch
2023-07-11 15:58:48 +02:00
392d445783
RCUpdateTest: fix unit test parameters + restoring state after test
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Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
2023-07-11 15:58:48 +02:00
e127ada07b
rc_update: extend ModuleParams::updateParams() for local parameter updates
2023-07-11 15:58:48 +02:00
87c697a0d6
rc_update: switch back to protected scope and use fixture for testing
2023-07-11 15:58:48 +02:00
81764c43a1
EKF2: use timestamp from argument of PublishEvPosBias() ( #21822 )
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* EKF2: use timestamp from argument of PublishEvPosBias()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Update src/modules/ekf2/EKF2.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2023-07-11 11:07:39 +02:00
02ab5e0704
drv_pwm_output: remove unused PWM_ defines
2023-07-10 18:58:37 +02:00
e776aca9ef
UUV: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
6b7aed3d44
Boats: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
95a35c972d
Rovers: stop motors when commanding zero speed
2023-07-10 18:58:37 +02:00
0be6069b83
TiltrotorVTOL: allow stopping front tilted motors in fast forward flight
2023-07-10 18:58:37 +02:00
66b451e61f
TailsitterVTOL: allow explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
5568afbb12
StandardVTOL: explicitly stop forward motor with zero thrust
2023-07-10 18:58:37 +02:00
6b7b34a71a
FixedWing: explicitly stop forward motor with zero thrust
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This allows PWM and all other output methods to configure
stopped, idling and full thrust points and use them consistently.
The fact that a fixed wing motor can be stopped when zero thrust
is demanded is explicit and could in principle even be disabled.
The mechanism is the same as for a standard VTOL stopping the
multicopter motors in the fixed wing flight phase.
2023-07-10 18:58:37 +02:00
2a077181d9
ActuatorEffectiveness: add function to delectively stop motors with zero thrust
2023-07-10 18:58:37 +02:00
a8bf47e606
Set default minimum and maximum PWM for motors
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This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
2023-07-10 18:58:37 +02:00
646f711b1a
fake_magnetometer: add dpends=fake_magnetometer
2023-07-06 22:43:13 -04:00
0d6cb46c83
lightware_laser_i2c: add SF30/D
2023-07-06 22:42:39 -04:00
afa085da7f
geofence: fix altitude change fence check
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When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
2023-07-06 22:39:39 -04:00
745fa3720e
fmu-v6x: build battery status
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This is required to process data from the ADS1115 ADC and enables the
params BATx_I_CHANNEL and BATx_V_CHANNEL.
Testing is required whether this actually works on Pixhawk 6X though.
Signed-off-by: Julian Oes <julian@oes.ch>
2023-07-07 13:40:58 +12:00
e18da100ed
Add ADC_ADS1115 Parameter to FMUv6x Default Build
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Adding ADC_ADS1115 Parameter to FMUv6x Default Build to allow FMUv6X user to use ADS1115 with Analog Power Modules.
2023-07-07 13:40:58 +12:00
c1cb48c2ea
EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
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Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
2023-07-06 09:36:27 +02:00
39e04d9712
lib: matrix: SquareMatrix: Deal with the special case of M=1
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2023-07-06 08:24:33 +02:00
724f5a97a9
platform: posix: px4: Add missing `ctsdint` include for `uint8_t`
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2023-07-06 08:24:33 +02:00
a6502c9f2b
ROMFS: auto try RGBLED is31fl3195
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This is required to auto-start the is31fl3195 driver if connected.
Signed-off-by: Julian Oes <julian@oes.ch>
2023-07-05 20:49:39 +12:00
dccfcb85c1
(Mission) FeasibilityChecker: remove duplicate line
2023-07-04 11:17:23 +02:00
a617e9c54b
Navigator RTL: run find_RTL_destination() only on_inactive
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-07-04 09:36:22 +02:00
f275085e84
Navigator: Loiter: always establish new Loiter with center at current pos
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When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-07-04 09:35:40 +02:00
288e3ae74a
EKF2: vision attitude error filter ( #21791 )
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* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
2023-07-03 11:13:59 -04:00
24665f10f2
VL53L1X: fix scheduling ( #21787 )
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* should be 50 Hz instead of 50,000 Hz
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
2023-07-03 10:49:53 -04:00
a36c922fc0
ActuatorEffectivenessHelicopterTest: adapt to new constructor
2023-07-03 16:21:27 +02:00
77d6c722a7
helicopter: add tail servo support
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as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
2023-07-03 16:21:27 +02:00
bae413a332
v6x: start mavlink on TELEM2 for skynode
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Equivalent to v5x
2023-07-03 16:20:41 +02:00
abe0ca1307
boards/holybro/kakutef7: enable gps, osd, top, dmesg. Disable uxrce_dds
2023-07-03 11:22:33 +02:00
f5193bb155
boards/holybro/kakutef7: enable rc serial singlewire
2023-07-03 11:22:33 +02:00
2307d4aa22
boards/holybro/kakutef7: remove px4_platform_config
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kakutef7 doesn't use manifest
2023-07-03 11:22:33 +02:00
018ec97c41
mavlink_log_handler: handle _next_entry ( #21784 )
2023-07-03 10:30:07 +02:00
bfa72a1bee
rc.board_arch_defaults: add the silent flag for EKF2_MULTI_IMU
2023-07-03 10:08:26 +02:00
b7e2a9c320
FlightTaskAltitude: remove duplicate, deprecated yaw stick handling
2023-07-03 09:52:47 +02:00
4d465533b5
FlightTaskManualAcceleration: remove duplicate yaw stick handling
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It's already instanciated and ran by FlightTaskManualAltitude
which FlightTaskManualAcceleration inherits from.
2023-07-03 09:52:47 +02:00
03183ccacf
mc_pos_control_params: remove forgotten trailing zeroes
2023-07-03 09:52:47 +02:00
0196241c10
stale action: Configure again ( #21785 )
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Having newline between I think didn't apply the PR stale days setting of
30 properly (it was using 45)
And it seemd that unless I set the days-before-close to -1
intentionally, it would still close the Issue/PRs, as the default value
is 7 already.
Also updated version of the stale action to v8
2023-06-30 19:12:16 +02:00
bresch
alexklimaj
Eric Katzfey
mjturi-mai
Matthias Grob
Silvan Fuhrer
xianglunkai
Beat Küng
Julian Oes
Vincent Poon
Antonio Sanjurjo C
Patrick José Pereira
Thomas Stastny
Andrew Brahim
Igor Mišić
Harrison Gieraltowski
Junwoo Hwang