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43016 Commits

Author SHA1 Message Date
bresch db97a38a9d ekf2 rng kin: allow check to become true during horizontal motion 
Even if there is some horizontal motion, a passing check should be
accepted as the terrain can be flat. However, the vehicle must not be
moving horizontally to invalidate the consistency as a change in terrain
can make the kinematic check temporarily fail.
 2023-09-22 09:02:35 -04:00
David Sidrane e920bfb188 px4_fmuv6x:Fit Rev6 Sensors 2023-09-21 16:22:44 -04:00
David Sidrane 9151d582ed px4_fmu-v6:Add Sensor Set Rev 6 2023-09-21 16:22:44 -04:00
Silvan Fuhrer 5590ab3caa
FW Position Controller: handle IDLE waypoints in FW_POSCTRL_MODE_AUTO, also with NAN setpoints (#22114) 
A setpoint of type IDLE can be published by Navigator without a valid position,
and should be handled in the auto function in FW_POSCTRL_MODE_AUTO. If it wouldn't be
handled there the controller would switch to mode FW_POSCTRL_MODE_OTHER, in which case
no attitude setpoint is published and the lower controllers would be stuck with the
last published value (incl. thrust).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-21 17:27:54 +02:00
Silvan Fuhrer acec07fb25 Update src/modules/mc_att_control/mc_att_control_main.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-09-21 17:25:53 +02:00
Matthias Grob 710f977349 mc_att_control: ramp thrust in after spoolup time 2023-09-21 17:25:53 +02:00
Matthias Grob 4ca366c04f mc_att_control: respect spoolup time in Stabilized mode 2023-09-21 17:25:53 +02:00
Matthias Grob 24111df176 mc_att_control_main: zero minimal thrust when landed 
but this time compared to
2fbb70d9ca
the minimum thrust is ramping to not produce a thrust jump.

The better long term solution will be to always have airmode but
with the effect limited to a magnitude of MPC_MANTHR_MIN.
 2023-09-21 17:25:53 +02:00
Jari Nippula 7239e8473e microxrce_client to use px4_poll for uorb subs 
Subscribe to poll uorbs instead of sleeping px4_usleep to
allow more accurate timing.
 2023-09-21 08:30:28 -04:00
bresch 9e962f3efa ekf2: update more hardcoded indexes 2023-09-21 08:27:52 -04:00
bresch ebf962bf68 ekf2: remove size in name of state vector and matrix types 
Then the state vector size can be changes without having to update the
name
 2023-09-21 08:27:52 -04:00
RomanBapst 4f1682c3c8 UTM_GLOBAL_POSITION: prevent uint16 overflow 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-09-21 08:21:56 -04:00
Matthias Grob be56f74c1d mc_acro_params: beginner/tuning friendly defaults 
high rates and (super) expo are necessary for
- acrobatic flying
- fpv
- racing
but they are not useful for:
- a typical vehicle's rate control tuning
- beginners

The defaults that I set in #8036 were put with the assumption Acro mode
is mainly used on racing drones for acrobatic manouvers but instead
users including me use it most of the time to tune any drone.
When tuning the rates are lowered and expo disabled.

My suggested strategy is to make the beginner friendly rates without
expo which are good for tuning the default and document more clearly
how this can be raised for acrobatic flying in documentation and later
on hopefully also directly in the ground station UI
on an Acro mode specific page.
 2023-09-20 17:45:07 -04:00
Matthias Grob 77c2df2e04 mc_acro_params: separate parameter group 2023-09-20 17:45:07 -04:00
Matthias Grob 189fa6831a mc_acro_params: more readable descriptions 2023-09-20 17:45:07 -04:00
Matthias Grob df3a0de734 mc_rate_control: move acro parameter to separate file 2023-09-20 17:45:07 -04:00
Igor Mišić c1dbe177b8
boards: move FRAM emulated sector size to the 32-byte granularity (#21204) 2023-09-20 16:50:36 -04:00
Silvan Fuhrer ec7db4b30d
FW Positon Controller: set references to 0 if not provided by local_position (#22101) 
* FW Positon Controller: set altitude_ref to 0 if not provided by GPS

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Positon Controller: set lat/lon reference to 0 if not provided in local_position

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-20 15:45:32 +02:00
AlexKlimaj 7ff00db9c5 Update AFBR to 1.4.4. Remove changing measurement modes. Add parameters. Default to Long range mode" 2023-09-19 19:15:02 -04:00
RomanBapst 6d71224cdb vtol_takeoff: use global position for takeoff location instead of home position. 
- home position and takeoff position don't necessarily need to match

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2023-09-19 20:00:54 +03:00
bresch dac337efc4 ekf2: auto-generate state vector size constant 2023-09-19 09:37:50 -04:00
Daniel Agar 8a9a303354 ekf2: update include guards 2023-09-19 09:37:50 -04:00
bresch 51dbd8ee4c ekf2: simplify state var constraint 2023-09-19 09:37:50 -04:00
bresch 779ea3f4d1 ekf2: access state covariance using enum 2023-09-19 09:37:50 -04:00
bresch 9c41c06325 square matrix: add function to uncorrelate part of the matrix 2023-09-19 09:37:50 -04:00
bresch b612467593 square matrix: add partial trace computation 
This is useful when we need the sum of some variances in a large
covariance matrix
 2023-09-19 09:37:50 -04:00
Silvan Fuhrer 1cbaa78eba Takeoff: don't use Home altitude but current altitude 
If no altitude setpoint is specified then takeoff to the default
altitude above the current global position, not above Home.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer de5b769093 Navigator: Use MIS_TAKEOFF_ALT only as default, not as min 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 71f8f47f62 Navigator: remove deprecated calculate_takeoff_altitude() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 48acf98fd5 Navigator: remove deprecated _can_loiter_at_sp and _need_takeoff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer bb212ea6ec Navigator: refactor logic that aligns altitude prior to starting mission 
New: always climb to altitude of active waypoint if mission is started/resumed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 5fa8985477 ROMFS: SITL config iris_opt_flow: fix disabling of GPS fusion 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 93dbf17eab Navigator: rename WORK_ITEM_TYPE_TAKEOFF to WORK_ITEM_TYPE_CLIMB 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 15641f62d2 Navigator: rename WORK_ITEM_TYPE_ALIGN to WORK_ITEM_TYPE_ALIGN_HEADING 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Maciej Małecki 18e47f9b65 Landing Target Estimator: fix param group casing consistency 
`target` -> `Target`. Useful to users of machine-readable documentation.
 2023-09-19 09:12:40 +02:00
Daniel Agar d351f16d04 drivers/optical_flow/paa3905: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Agar efbed3bfc1 sensors/vehicle_optical_flow: don't publish interval lower than configured rate 2023-09-18 12:46:39 -04:00
Daniel Agar 380a42fcbf drivers/optical_flow/paw3902: backup scheduling to fetch 0 flow 
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish
   zero flow information
 2023-09-18 12:46:39 -04:00
Daniel Mesham 15036c1761
Allow changing parameters during replay (#22071) 
* replay: add scheduled parameter changes

* replay: store scheduled parameter change events as structs
 2023-09-18 18:38:09 +02:00
Daniel Agar 6bd13c5514 boards/cubepilot: cubeorange and cubeorangeplus include VectorNav INS 2023-09-15 16:32:40 -04:00
Daniel Agar b2f258f7a4 drivers/ins/vectornav: add new VN_MODE parameter for full INS support 2023-09-15 16:32:40 -04:00
Daniel Agar 153f7bbced ekf2: update all copyright headers 2023-09-15 10:02:09 -04:00
Daniel Agar 1e9f0ad2c6 ekf2: add kconfig for barometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Daniel Agar f0224c5104 boards: bitcraze crazyflie21 disable ekf2 magnetometer support 2023-09-15 10:02:09 -04:00
Daniel Agar 7589ee00e8 boards: holybro kakutef7 switch to ekf2 2023-09-15 10:02:09 -04:00
Daniel Agar 10b54d08fc ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig 
- new estimator_aid_src_terrain_range_finder for HAGL RNG
 2023-09-15 10:02:09 -04:00
Daniel Agar 845b01a00d ekf2: add kconfig for magnetometer support (enabled by default) 2023-09-15 10:02:09 -04:00
Beat Küng d1266c856f rc_input: prevent error output during boot on boards with px4io 
output:
INFO  [rc_input] valid device required
ERROR [rc_input] Task start failed (-1)
 2023-09-14 10:40:54 -04:00
Matthias Grob f8d729147b Craziflie configs: remove default 100% thrust parameter 2023-09-14 09:50:21 -04:00
PX4 BuildBot 3107860a89 Update submodule mavlink to latest Wed Sep 13 20:14:21 UTC 2023 
- mavlink in PX4/Firmware (06b8477f853bf0234d0a894dcf6af4718597989f): 58435f6a83
    - mavlink current upstream: 81524c2b34
    - Changes: 58435f6a83...81524c2b34

    81524c2b 2023-09-13 Hamish Willee - Update pymavlink - for fixed wireshark (#2038)
fe14d798 2023-08-31 Matthias Grob - common: extend MANUAL_CONTROL with auxiliary continuous inputs (#2031)
546edec2 2023-08-30 Peter Barker - common.xml: display GIMBAL_MANAGER_STATUS.flags as bitmask (#2035)
16754498 2023-08-28 Richard Allen - fix RC_CHANNELS_SCALED inactive channel (#2032)
a31bf384 2023-08-24 Hamish Willee - Fix c_library_vX build order (#2026)
5887a6af 2023-08-17 auturgy - reserve range in all.xml (#2030)
 2023-09-13 18:31:37 -04:00