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43500 Commits

Author SHA1 Message Date
Matthias Grob 4e3bd4f196 MAVSDK tests: shorten Position, Altitude control flights 
We get more than 5 meter away much quicker.
 2024-02-22 15:29:13 +01:00
Matthias Grob 0cc4b41a51 MAVSDK test: Fix fly_forward_in_altctl() timing 2024-02-22 15:29:13 +01:00
Matthias Grob f602228048 MAVSDK test: increase offboard position threshold 
This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
 2024-02-22 15:29:13 +01:00
PerFrivik 9b122adae4 Fix fly_forward_in_posctl() timing 2024-02-22 15:29:13 +01:00
Eric Katzfey 1ec0ba4736 Added param system command to voxl2 slpi build 2024-02-21 11:54:02 -05:00
Eric Katzfey 8da8b88a54 Fixed and added Qurt platform dsp_hitl driver 2024-02-21 11:54:02 -05:00
Eric Katzfey be08c57a0a Changed order of service startup in SLPI DSP muorb since parameter library now needs work queues 2024-02-21 11:54:02 -05:00
Eric Katzfey a436a8f3b8 Fixed unresolved symbol error for qurt platform due to missing sbus library 2024-02-21 11:54:02 -05:00
Eric Katzfey 5ad0e68d8e Fix build error for Qurt platform in pab_manifest.c 2024-02-21 11:54:02 -05:00
Eric Katzfey f07eeaa776 Added special muorb startup ordering in px4_init for posix platform 2024-02-21 11:52:24 -05:00
Daniel Agar 506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL) 2024-02-21 09:45:44 -05:00
Niklas Hauser 643d3e3bf3 Navigator: Prevent busy-looping if Dataman read/write times out 
MissionBase did not initialize its mission data, thus could enter an
infinite loop in updateDatamanCache() if the initMission() failed to
read the mission off, for example, due to the SDCard storage task taking
longer than the timeout to respond.

This change constrains the loading loop and resets the mission data even
if the data write failed.
 2024-02-21 13:31:43 +01:00
Daniel Agar 8243b4f474 ekf2: move vel/pos reset helpers 2024-02-20 13:16:24 -05:00
Daniel Agar 22b957696d ekf2: velocity/position fusion helper minor consistency cleanup 2024-02-20 13:16:24 -05:00
Daniel Agar c338891677 ekf2: split vel_pos_fusion.cpp 2024-02-20 13:16:24 -05:00
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
 2024-02-20 13:16:24 -05:00
Daniel Agar 021dd0d0af ekf2: fix EV height bias predict call 
- needs to be called every iteration
 2024-02-20 11:47:53 -05:00
bresch c221da27a7 ekf2: set attitude validity flag using centralized function 2024-02-20 11:33:30 -05:00
Matthias Grob 51fe4351c6 StickTiltXY: Fix too high maximum tilt problem 
And add unit tests.
 2024-02-20 14:27:49 +01:00
Silvan Fuhrer 8a75733511 Navigator: fix VTOL land waypoint calculation 
The setpoint.yaw can be NAN, and this made the calculated land point NAN
as well. Looking at the current yaw is anyway a better way to approximate
the course over ground that fundamentally should be used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-19 14:54:28 +01:00
Daniel Agar 1032dd3470 ekf: fix measurementUpdate comment typo 2024-02-19 09:41:49 +01:00
Konrad 424c3cd2cb FeasibilityChecker: Add new TakeoffLandAvailable option 
ADd a new misison feasiblity checker option to check if a proper landing approach is defined when in air. There must be at least a mission landing or a VTOL approach defined in order for the mission to be accepted. Else, use the same logic as in MIS_TKO_LAND_REQ=4
 2024-02-16 10:27:22 +01:00
Konrad 68100650da RTL: publish a status message on currently chosen RTL point 2024-02-16 10:27:22 +01:00
Cyril C 74303a79e1
drivers/batt_smbus: fix BQ40Z80 timeout problem (#22751) 
Co-authored-by: cyril.calvez <c.calvez@elistair.com>
 2024-02-15 13:24:40 -05:00
Daniel Agar 8dc3975456
ekf2: only populate gnss pos aid src status if ref initialized 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
 2024-02-15 13:13:10 -05:00
Matthias Grob 84a7d42566 rover build: correct differential drive kconfig name 2024-02-15 10:08:51 -05:00
Matthias Grob f26df8492f Update GPS drivers to contain the astyle fix 2024-02-15 15:23:06 +01:00
Konrad cb09dde606 FixedwingPositionControl: Used corrected npfg roll output in path mode 2024-02-13 17:17:44 +01:00
Konrad 1a1891073e FixedwingPositionControl: Only warn user when roll is reduced for a longer period of time 2024-02-13 17:17:44 +01:00
Daniel Agar b8714f8980 ROMFS: rc.simulator EKF2 setup specific to gazebo classic 2024-02-13 11:14:44 -05:00
PX4 BuildBot 0c099f2b56 Update submodule gz to latest Tue Feb 13 12:39:17 UTC 2024 
- gz in PX4/Firmware (c9ad60e3cc): c78f7f0141
    - gz current upstream: f1c461fffb
    - Changes: c78f7f0141...f1c461fffb

    f1c461f 2024-02-08 frederik - increase monocam clipping distance
6d5db73 2024-02-07 Sergei Grichine - Added Zero Turn Lawnmower model (#27)
5332071 2024-02-06 Frederik Markus - add navsat plugin to worlds and navsat sensor to models (#26)
 2024-02-13 11:13:17 -05:00
Frederik Markus bb53781b8f
simulation/gz_bridge: enable navsat plugin for accurate positioning of real life maps in Gazebo (#22638) 
* publish the global groundtruth from the navsat callback and rearrange the local groundtruth as the altitude reference now has a dependency on the global groundtruth being initialized

---------

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
 2024-02-13 11:09:35 -05:00
Silvan Fuhrer c9ad60e3cc Update src/modules/navigator/mission_block.cpp 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-02-13 10:34:57 +01:00
Silvan Fuhrer a6ef7b6da9 RTL: write out weather vane in comments (instead of WV) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-13 10:34:57 +01:00
Silvan Fuhrer 6957818603 RTL: clean up naming of function arguments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-13 10:34:57 +01:00
Matthias Grob cb03835124 RTL: use dest.yaw instead of a separate heading_sp 2024-02-13 10:34:57 +01:00
Silvan Fuhrer b19e35ec7c RTL: change when to set a heading setpoint, generally leave it up to the executer 
-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-13 10:34:57 +01:00
PX4 BuildBot dce53a626e boards: update all NuttX defconfigs 2024-02-12 08:58:49 -05:00
Daniel Agar 5f589bdda3
Update submodule GPSDrivers to latest Mon Feb 12 12:39:19 UTC 2024 
- GPSDrivers in PX4/Firmware (17ff40898c683e1fe96ff9e2d2790594d188f872): 3393191fbb
    - GPSDrivers current upstream: f48cc01d31
    - Changes: 3393191fbb...f48cc01d31

    f48cc01 2024-02-08 Julian Oes - ubx: separate config for jamming monitor
bc72f55 2024-02-08 Julian Oes - sbf: simplify odd define

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-02-12 08:58:21 -05:00
Matthias Grob 1998f54ea6 DifferentialDrive: move spoolup consideration to the main module 2024-02-12 14:29:10 +01:00
PerFrivik bef694f9ba Added spoolup and removed temporary timeout for EKF 2024-02-12 14:29:10 +01:00
PerFrivik 560d6a9d4b cleanup + updated acro 2024-02-12 14:29:10 +01:00
PerFrivik f996caa5bd Fixed bug in the guidance logic 
After smoothing the linera velocity setpoint, the EKF has trouble initializing, becuase the acceleration is too smooth, to combat this issue, there is a 1 second delay when initializing the mission mode
 2024-02-12 14:29:10 +01:00
PerFrivik bb0dfba4e6 added acro mode 
Acro mode is manual mode, but with rate control
 2024-02-12 14:29:10 +01:00
PerFrivik d197d94889 Fixed guidance logic and added feedforward term to compute the angular velocity 2024-02-12 14:29:10 +01:00
Matthias Grob 396ef222ee DifferentialDrive: Rework structure 
3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
 2024-02-12 14:29:10 +01:00
Matthias Grob f85144ca76 DifferentialDrive: remove trailing zeros from prameter metadata 2024-02-12 14:29:10 +01:00
Matthias Grob b54b4f7dce Rename module differential_drive_control -> differential_drive 2024-02-12 14:29:10 +01:00
Matthias Grob fc90e235f1 Rename differential drive setpoint topics 2024-02-12 14:29:10 +01:00
Matthias Grob f7baeae1a0 DifferentialDriveControl: only save required parts of uORB message 2024-02-12 14:29:10 +01:00