Commit Graph

43016 Commits

Author SHA1 Message Date
Beniamino Pozzan 4555c4e5cc Add srv/ folder and srv/VehicleCommand.srv
update CI (github and Jenkins) to push changes of srv/
to PX4/px4_msgs repo

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
2023-11-14 11:29:17 -05:00
Mathieu Bresciani efa12ad224
EKF2 simplify covariance propagation (#22344)
* ekf2-derivation: optimize before generating cpp code

* update EKF2 change indicator

Slight changes due to simplifications done in the covariance prediction

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
2023-11-14 11:22:16 -05:00
Peter van der Perk 96e05481b4 ucans32k1: SPLLDIV2 set to 40Mhz 2023-11-14 06:26:00 -05:00
Hamish Willee 50d9d05c10 Escape param metadata to fix broken tags 2023-11-14 09:48:03 +01:00
bresch 00568985c0 yaw_est: use error-state covariance prediction
Convergence improvements in high yaw rate conditions
2023-11-13 11:37:27 -05:00
Konrad 32127ca789 loiter: set loiter position to current position setpoint, if it is a loiter item 2023-11-13 12:43:58 +01:00
Michał Barciś 6800a448b0 ThrowLaunch: check ThrowMode parameter to skip takoff in MulticopterPositionControl
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
2023-11-13 11:57:19 +01:00
Matthias Grob 9d455d5f1f ThrowLaunch: move into separate class 2023-11-13 11:57:19 +01:00
Michał Barciś 1a48f311ea ThrowLaunch changes after PR
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
2023-11-13 11:57:19 +01:00
Michał Barciś c2b4f051f9 Added Throw Launch feature
More details in the PR: https://github.com/PX4/PX4-Autopilot/pull/21170

Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
2023-11-13 11:57:19 +01:00
Julian Oes 84577ce2c2 battery: skip charge estimation if N cells is 0
This triggers the undefined behaviour fuzzer, so let's try to fix it.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-13 09:55:39 +01:00
Konrad 44d1003f8e rtl: Only use approaches for vtols in fixed wing mode 2023-11-12 15:41:28 +01:00
murata f29c5742be mavlink: Capitalize the first letter of Landing 2023-11-12 15:33:51 +01:00
Damien SIX 833cd79e67 fix: remove depreciated parameter 2023-11-12 15:33:33 +01:00
Daniel Agar 1592aedc11 gitmodules add heatshrink branch 2023-11-10 17:45:47 -05:00
Julian Oes 10a2e7e44f SITL: fix parse error on start
This fixes the error:
etc/init.d-posix/rcS: 39: [: Illegal number:

Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-11 11:26:20 +13:00
Matthias Grob 4485c7aa11 PositionSmoothing: fix corner altitude bug
During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
2023-11-10 10:02:20 +01:00
Julian Oes 19b681ca1f Remove SYS_USE_IO param
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-10 12:17:23 +13:00
Niklas Hauser 1463f9dec8 stm32h7: Prevent UART from waiting on TXDMA semaphore
The UART7 TXDMA services TELEM1 with flow control. If CTS is high, the
transmitting thread will wait on a semaphore, which may block other
threads from acquiring necessary resources to make progress, for
example, preventing MAVLINK instances from transmitting.

This change in NuttX makes the TXDMA acquire the semaphore in a
non-blocking way, preventing this issue.
2023-11-09 07:53:48 -05:00
Frederik Markus fc5b868138
fixing the turning direction of the Cessna Propeller (#22276)
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
2023-11-09 13:08:54 +01:00
Silvan Fuhrer 5efcde7412 mavsdk_tests: add two new tests for VTOLs
- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer 29714a0fba AirspeedValidator: make wind estimate more dynamic
Increase wind process noise default (ASPD_WIND_NSD) and gate
(ASPD_TAS_GATE) to be able to catch rapid wind increases with
the internal wind estimator of the airspeed validator.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer 041e5069cb ROMFS: update tuning of SITL standard VTOL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer 0d36d54fbe SimulatorMavlink: add airspeed icing failure (ramp down scale)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer a4b04c3982 SimulatorMavlink: rename _airspeed_blocked to _airspeed_disconnected
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer cf03b99ab4 AirspeedValidator: inrease default of ASPD_BETA_NOISE
Trust the beta innovations more compated to the TAS innovations.
That should help with detecting real airspeed failures even with
a dynamic wind estimate (as long as vehicle doesn't fly straight)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer 0a271b1982 EKF2: increase default of EKF2_WIND_NSD and EKF2_TAS_GATE
Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Silvan Fuhrer ec20f92558 EKF2: sideslip_fusion: remove construced airspeed magnitude check to fuse beta
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Konrad 72c6db6b23 vtol_rtl_test: explicitly disable RTL_FORCE_APPROACH for RTL direct Home testcase 2023-11-08 17:48:34 +01:00
Claudio Micheli 457d261278 Add mavlink support for GIMBAL_DEVICE_INFORMATION
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2023-11-08 17:01:32 +01:00
Beat Küng 1ad5a9de08 uorb: compress format definitions
Reduces flash usage by ~16KB.

- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
  https://github.com/atomicobject/heatshrink
2023-11-08 00:31:26 -05:00
Frederik Markus 142e44c418
Tools/simulation/gz/models/advanced_plane: updated paths
Moves paths for advanced plane files from personal directory (frede791) to PX4 directory on fuel.

Signed-off-by: frederik <frederik@auterion.com>
2023-11-07 17:39:26 -05:00
bresch 3acc29410a failsafe: disarm if battery failure is detected during spoolup 2023-11-07 17:38:06 -05:00
robbie-sps 55fd0bde85 nuttx: fix <new> 2023-11-07 17:36:59 -05:00
Daniel Agar 77baa7c24a
ekf2: EKFGSF yaw estimator always run
- if not in air the accel noise is doubled
 - if landed don't init unless GPS velocity is non-negligible
 - when inactive continue seeding with EKF gyro bias
 - reset yaw estimator if GPS fusion is stopped
2023-11-07 15:48:49 -05:00
Silvan Fuhrer a47b684fd7 tecs_status.msg: directly add underspeed ratio to msg instead of boolean
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 12:18:06 -05:00
Silvan Fuhrer 8741a9784d TECS: remove TECS_MODE enum and instead add descriptive boolean flag to tecs_status
New flag: underspeed_mode_enabled.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 12:18:06 -05:00
Silvan Fuhrer a6fcf7b48c TECS: remove airspeed adaption in case of underspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 12:18:06 -05:00
alexklimaj 4dda99c80b mc_pos_control: MPC_ALT_MODE make terrain hold default 2023-11-07 12:00:14 -05:00
alexklimaj de0910c767 flight mode manager: fix terrain hold 2023-11-07 12:00:14 -05:00
Sverre Velten Rothmund 94d4dc85f8 ekf2: Make stuck detector optional 2023-11-07 11:57:19 +01:00
Konrad 3d16383bb4 mavlink_tests: fix include directory to point to chosen mavlink dialect 2023-11-07 11:35:23 +01:00
Matthias Grob c53e0c4799 cpuResourceCheck: use hysteresis class 2023-11-07 11:19:28 +01:00
Silvan Fuhrer fd009c8be3 CPU resource check: use class member and fix param description
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 11:19:28 +01:00
Silvan Fuhrer c054bc2370 Commander: cpuResourcesCheck: add 2 seconds hysteresis to trigger failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 11:19:28 +01:00
Matthias Grob ae888b73d0 battery: report over voltage 2023-11-06 18:17:28 +01:00
Silvan Fuhrer 54d26e084a
Commander: windCheck: add COM_WIND_MAX_ACT param to set high wind failsafe action (#21373)
Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-06 11:58:21 +01:00
Ramon Roche a29b07fa73 Security Vulnerability Reporting 2023-11-06 09:32:16 +01:00
Frederik Markus 39fbfd8e0c
Port of Advanced Plane from Gazebo Classic to Gazebo (#22167)
* started tiltrotor port

* added advanced plane and changed some parameters on the tiltrotor

* added advanced plane

* removed tiltrotor for clean push

* removed standard vtol old model file

* removing the standard vtol changes from this PR, since it is not part of the advanced plane

* removed advanced plane meshes as they are already found in the rc_cessna

* updating and improving airframe parameters

* updated mesh paths

Signed-off-by: frederik <frederik@auterion.com>

---------

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
2023-11-06 09:31:04 +01:00
Christian Rauch 22ee90b7d7 add include path for crc32.h on "posix" and "ros2" platform 2023-11-03 11:50:56 -04:00