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43165 Commits

Author SHA1 Message Date
Beniamino Pozzan f01400de81 [uxrce_dds_client] Fix debug string format - use PRId64 and llabs 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Daniel Agar 5af6cf1889
Update submodule GPS Drivers to latest Tue Nov 28 00:39:22 UTC 2023 
- GPS Drivers in PX4/Firmware (5ef3ae3f1ec5aecea5842306a63aec054eb599a9): 6e452c2c5b
    - GPS Drivers current upstream: 63990d218e
    - Changes: 6e452c2c5b...63990d218e

    63990d2 2023-11-22 Daniel Agar - nmea fix astyle whitespace

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-27 21:05:23 -05:00
PX4 BuildBot dfbd5c88b1 Update submodule mavlink to latest Tue Nov 28 00:39:31 UTC 2023 
- mavlink in PX4/Firmware (b8870adb3e2002ee16ebf63bd23342a055ab8628): 70181c42fc
    - mavlink current upstream: 02f1575d73
    - Changes: 70181c42fc...02f1575d73

    02f1575d 2023-11-24 Hamish Willee - MAV_CMD_CONDITION_YAW - shortest direction v2 (#2058)
bc0d8611 2023-11-22 Roman Bapst - moved MAV_CMD_EXTERNAL_POSITION_ESTIMATE from ardupilotmega to common (#2057)
b85e0016 2023-11-22 Hamish Willee - development - delete MAV_CMD_SET_FENCE_BREACH_ACTION (#2053)
 2023-11-27 20:40:31 -05:00
PX4 BuildBot da8692c682 update all px4board kconfig 2023-11-27 20:05:50 -05:00
Silvan Fuhrer 2734c44533 FlightTaskAuto: set state to None if prev and current sp are equal 
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-27 18:01:47 +01:00
Konrad 6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad 5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad 3ac7ed6afa mission_base: Do not reset mission on invalid mission upload 2023-11-24 08:11:41 +01:00
Konrad a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Beat Küng 7afa011741 mavlink_mission: publish mission after updating dataman 
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
 2023-11-24 08:10:07 +01:00
Beat Küng 93cae5f9d7 mission: fix comparison logic for saving mission state 2023-11-24 08:10:07 +01:00
Matthias Grob 8271faedeb control_mode: reorder modes according to controller cascade 2023-11-23 20:35:48 +01:00
Matthias Grob 6e31638817 control_mode: add allocation to orbit mode to not crash 2023-11-23 20:35:48 +01:00
Silvan Fuhrer a99a7d2abd vtol: always check for EKF2 resets, not just when QC is checked 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Silvan Fuhrer eae939d86c vtol_type: transition altitude loss quad-chute: handle z resets 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Silvan Fuhrer 8a899170bf VehicleLocalPosition.msg: add comments for heading reset fields 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Silvan Fuhrer 7833d2a879 VehicleLocalPosition.msg: add comments for reset fields 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-23 13:54:07 +01:00
Julian Oes 19964d56ed fmu-6x: Use i2c_launcher by default 
This switches all SENS_EN_INAXXX params to 0 by default and instead uses
the i2c_launcher command.

However, if any one the SENS_EN_INAXXX param is set, it no longer tries
to auto-configure it.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 22:19:52 -05:00
Julian Oes fbc95ff4bd Add I2C driver launcher 
This is just a first draft of the launcher part.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 22:19:52 -05:00
Julian Oes 895ddee16a i2c_spi_buses: method to count instances per bus 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 22:19:52 -05:00
Beniamino Pozzan 742d237ae3 [uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint 
actuator_motors and actuator_servos subscribers for offboard control

Being subscribers, this does not increase the computational load
over the uxrce_dds brigde

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Beniamino Pozzan 1c8f31f339 [offboard] add thrust and torque control mode 
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Jacob Dahl 6cc38776c8
src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME (#22290) 
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
 2023-11-22 22:06:11 -05:00
Frederik Markus 86fbeb8a20
ROMFS/px4fmu_common/init.d-posix/airframes: 4004_gz_standard_vtol deprecated parameter update 
Signed-off-by: frederik <frederik@auterion.com>
 2023-11-22 21:57:58 -05:00
Silvan Fuhrer e280a6c6e6 Navigator: Geofence: always run geofence_breach_check(), not only only on pos update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer ade68aa563 Navigator: Geofence: stay in GF breached mode when in Loiter due to breach 
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f2aabe968e Geofence: add checks for custom GF validity when uploading it 
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 2865bbb8ab Geofence: rework messaging and notification 
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 3c194d552a Geofence: rework the way to check all GF at once 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer a41f24a2e2 geofence_result.msg: rename premove unused field home_required 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer b178c943a6 GeofenceBreachAvoidance: remove unused variables and methods 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer c0f26c8fbd mission_feasibility_checker.h: remove unused Geofence class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer 563bfbf6e7 Geofence: remove GF_COUNT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer fd709e05b0 Geofence: remove GF_ALTMODE 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f3eacb4844 Geofence: fix status print 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Silvan Fuhrer f8f4ea2fee MissionFeasibilityCheck: rename checkGeofence to checkMissionAgainstGeofence() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-22 21:45:02 -05:00
Daniel Agar 56bfe41f10 drivers/ins/vectornav: publish estimator_status (only in VN_MODE 1) 2023-11-22 21:42:27 -05:00
Beat Küng 19f08b46b0 ci: add test for PX4_EXTRA_NUTTX_CONFIG 2023-11-22 21:41:53 -05:00
Beat Küng a9c4e5a33f cmake: allow extra nuttx config options via PX4_EXTRA_NUTTX_CONFIG env var 2023-11-22 21:41:53 -05:00
PX4 BuildBot c497a25bea Update submodule libevents to latest Thu Nov 23 00:39:07 UTC 2023 
- libevents in PX4/Firmware (15667a5c6b927ab177c6912058475eb5fac26c4c): a9a3fc07ab
    - libevents current upstream: 59f7f5c0ec
    - Changes: a9a3fc07ab...59f7f5c0ec

    59f7f5c 2023-09-26 Beat Küng - cpp/parse: avoid using ssize_t as it's not available on Windows
1617b4e 2023-09-26 Beat Küng - cpp: enable Werror, Wall, Wextra, Wconversion, Wpedantic & fix
e2979e6 2023-09-26 Beat Küng - refactor python/parser: some whitespace & formatting updates
e2e8011 2023-09-26 Beat Küng - python/parse: add callback to escape message & description
baa93a4 2023-09-26 Beat Küng - cpp/parse: add callback to escape message & description
d10aecd 2023-09-26 Beat Küng - refactor tests/parser: move tests to method
1aaa597 2023-09-26 Beat Küng - run_ci.sh: ensure cmake uses unix makefiles
9b3c897 2023-09-25 Beat Küng - refactor parser tests: use gtest
 2023-11-22 21:40:48 -05:00
PX4 BuildBot 7c1d41aeb8 Update submodule sitl_gazebo-classic to latest Thu Nov 23 00:38:54 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (9387de8282): 20ded0757b
    - sitl_gazebo-classic current upstream: 33ac87a376
    - Changes: 20ded0757b...33ac87a376

    33ac87a 2023-11-14 Daniel Honies - Fix opencv aruco version bug (#1017)
ff6f74e 2023-11-13 jmackay2 - Remove unused props from tailsitter (#1015)
 2023-11-22 21:40:35 -05:00
Julian Oes 976cd67f71
logger: increase default GPS rate 
Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-22 21:30:31 -05:00
Konrad 9387de8282 mavsdk figure 8 test: Increase time of timeout 2023-11-22 16:47:38 -05:00
David Sidrane eefc6a0027 px4io:Added help text for supported command 2023-11-22 14:29:49 -05:00
Christian Rauch 1cf38e9d76 use Python 3.10 on macOS CI 2023-11-22 11:22:49 -05:00
Daniel Agar 0dbd7b9176 Jenkins compile remove obsolete target nxp_fmurt1062-v1_default 2023-11-22 11:16:22 -05:00
GuillaumeLaine ab867b963c dds_topics: Adds missing data reader 2023-11-22 10:42:05 +00:00
GuillaumeLaine f3e85219a3 dds_topics: Adds handling for empty yaml fields 2023-11-22 10:42:05 +00:00
GuillaumeLaine 85c75aedd1 dds_topics: Adds multi publication to subscribed dds topics 2023-11-22 10:42:05 +00:00
bresch e568b4a1d7 replay: increase buffer size 
required to parse larger topics
 2023-11-21 21:56:34 -05:00