2e6dd243af
mpc: add possibility to generate tilt using full 3D accel
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Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
2024-03-19 12:29:34 -04:00
32aa3263a6
EKF: Change a typo
2024-03-18 10:29:44 +01:00
70346a5b2f
failsafe: set cause to generic when fallback mode is activated
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Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
2024-03-15 14:06:58 +01:00
da39d075ac
Commander enums: shorten failsafe event messages
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Such that the focus is on the important keywords.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
f6430a27d6
Commander enums: capitalize battery level key words
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
4ae2fbd171
Commander enums: capitalize flight mode names
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
6e15dd5328
Commander: trigger warning when arming denied due to check failure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:34:11 +01:00
d330d47495
EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid
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Helps to reduce spamming of less important warnings.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:56 +01:00
6d8273483c
Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:41 +01:00
7c6ecd95a8
mc_wind_estimator_tuning: optionally use GNSS velocity
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Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
b2f1122372
ekf2: remove old yaw 321 and 312 derivations
2024-03-14 11:33:45 -04:00
ee63f3e664
update change indicator
2024-03-14 11:33:45 -04:00
e3f67d5c1a
ekf2: new yaw derivation
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Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
2024-03-14 11:33:45 -04:00
6373d8d243
commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first ( #22887 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 16:30:06 +01:00
68fcfc43ef
mro-zero classic: remove gyro fft module to save flash ( #22878 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 14:20:51 +01:00
ae947513d7
add load_mon support for Qurt platform ( #22883 )
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- Added check in commander to see if CPU load monitoring has been disabled before signalling overload
2024-03-13 21:33:58 -04:00
ad50afda10
update msg_files to PARENT_SCOPE ( #22800 )
2024-03-13 09:34:47 +01:00
23c5c0b12d
dataman: Add client sync perf counter and increase default timeout to 5s
2024-03-13 09:22:38 +01:00
a1cce7e961
uxrce_dds_client: optimizations and instrumentation
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- skip ping session if data flowing bidirectionally
- add perf counters for loop time and interval
- skip blocking poll if there's input data to read
2024-03-12 16:22:26 -04:00
b115d3cd44
uxrce_dds_client: refactor init to retry indefinitely
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- move init from UxrceddsClient to init() method so that retry is
possible for both serial and UDP init
2024-03-12 16:22:26 -04:00
9f4ae0a85d
vtol: only publish generic warning through mavlink to safe flash ( #22870 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 13:27:13 +01:00
00cc68baa1
Commander: make low remaining flight time configurable and fix clearing condition ( #22863 )
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* Commander: make low remaining flight time configurable and do not clear
- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low
* battery check: add hysteresis for declaring battery_low_remaining_time false again
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
2024-03-12 12:56:01 +01:00
7fe5ee64fe
rtl_direct: fix on_inactive()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:27:49 +01:00
7f370ac6df
Tiltrotor: disable MC yaw fade out during front transition blending
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:26:07 +01:00
1ad83a8002
mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame ( #22866 )
2024-03-11 19:49:11 -04:00
18d53c3bfd
boards/modalai/voxl2: Add new capabilities to Qurt platform HITL driver
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* Added new sensor control options and test capability in dsp_hitl
* HITL working in VIO mode only
* Fixed units on GPS HIL input
2024-03-11 19:47:15 -04:00
f4ebfa6130
parameters: support for an optional remote parameter database ( #22836 )
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The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote.
2024-03-11 13:52:22 -04:00
c5fde63440
mission: The mission check on activation should only be performed for a mission, not RTL.
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We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.
2024-03-11 17:08:56 +01:00
cb8520427c
rtl direct: fix setting of previous altitude (abs vs rel)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-11 14:04:02 +01:00
86c074378f
rtl_direct_mission_land: fix abs/rel usage of item.altitude
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-11 14:04:02 +01:00
e9fda548fa
rtl_direct: Rtl estimate only needs valid destination, not home position
2024-03-11 14:04:02 +01:00
91d1342f20
rtl_direct_mission: rtl_estimate for fixedwing land is diagonal
2024-03-11 14:04:02 +01:00
89844625b4
rtl: reduce time estimate calculations
2024-03-11 14:04:02 +01:00
fde71cd15e
rtl_direct_mission_land: add time estimation for RTL mission land
2024-03-11 14:04:02 +01:00
14e4169473
rtl_direct: Move the time estimation calculation into a separate helper class
2024-03-11 14:04:02 +01:00
8dcfcf5b9e
mission_base: land_start_item invalid only when negative. ( #22856 )
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rtl: land_start_item invalid only when negative.
Update src/modules/navigator/rtl.cpp
2024-03-11 09:46:16 +01:00
a80a5a92f4
boards: ARK Flow fix typo
2024-03-09 16:40:59 -05:00
b81ad8841e
drivers: broadcom AFBR update to API 1.5.6
2024-03-09 16:40:59 -05:00
57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static ( #22815 )
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Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.
Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.
* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h
---------
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2024-03-08 16:28:24 -05:00
006dcfafb7
boards/mro/ctrl-zero-classic: corrections for mRo Control Zero Classic Board ( #22745 )
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- Build target changed from STM32H743II to STM32H743ZI
- Missing external SPI interface added
- Nonexistent I2C3 interface removed
- I2C4 pins changed
- Red and Green LED lights remapped
- Missing ADC inputs added and already present ones corrected
- CAN Silent interfaces corrected
- Power pins corrected and Level Shifter pin added to enable ICM20948
- Buzzer pin remapped
- HRT channel and PPM pin changed
- RSSI input remapped
- ICM20602 and BMI088 pins corrected
- Serial ports remapped
2024-03-08 14:50:53 -05:00
85a882e1ce
FW Position Control: control_backtransition(): always track line from start ( #22853 )
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Remove option to track from previous wp to reduce complexity and fix
case where prev=current point and the line following broke down.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-08 19:11:08 +01:00
04099ed483
mission_base: Force mission validity check on activation
2024-03-08 17:26:04 +01:00
1aa26a5a91
missionFeasibilityChecker: Fix tests
2024-03-08 17:26:04 +01:00
acd750e033
mission_base: Run feasibility checker only after first global position has been published
2024-03-08 17:26:04 +01:00
6c6142ba79
MissionFeasibiltyChecker: Do not delete uorb data on reset.
2024-03-08 17:26:04 +01:00
7fb584adbe
MissionResult uorb: fix wrong int types
2024-03-08 17:26:04 +01:00
fb3aab1fb0
mission_base: check mission feasibility again, if geofence has changed.
2024-03-08 17:26:04 +01:00
1b03ac4d2b
mission_base: Only run mission feasibility if the geofence module is ready
2024-03-08 17:26:04 +01:00
815cea2abb
geofence: publish status of loaded geofence
2024-03-08 17:26:04 +01:00
51321c605e
mission_base: clean up mission check evaluation
2024-03-08 17:26:04 +01:00
bresch
muramura
Beat Küng
Silvan Fuhrer
Eric Katzfey
Alexander Lampalzer
Niklas Hauser
Daniel Agar
Thomas Stauber
Konrad
KonradRudin
alexklimaj
Alexis Guijarro