021dd0d0af
ekf2: fix EV height bias predict call
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- needs to be called every iteration
2024-02-20 11:47:53 -05:00
c221da27a7
ekf2: set attitude validity flag using centralized function
2024-02-20 11:33:30 -05:00
51fe4351c6
StickTiltXY: Fix too high maximum tilt problem
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And add unit tests.
2024-02-20 14:27:49 +01:00
8a75733511
Navigator: fix VTOL land waypoint calculation
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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
1032dd3470
ekf: fix measurementUpdate comment typo
2024-02-19 09:41:49 +01:00
424c3cd2cb
FeasibilityChecker: Add new TakeoffLandAvailable option
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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
68100650da
RTL: publish a status message on currently chosen RTL point
2024-02-16 10:27:22 +01:00
74303a79e1
drivers/batt_smbus: fix BQ40Z80 timeout problem ( #22751 )
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Co-authored-by: cyril.calvez <c.calvez@elistair.com>
2024-02-15 13:24:40 -05:00
8dc3975456
ekf2: only populate gnss pos aid src status if ref initialized
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- 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
84a7d42566
rover build: correct differential drive kconfig name
2024-02-15 10:08:51 -05:00
f26df8492f
Update GPS drivers to contain the astyle fix
2024-02-15 15:23:06 +01:00
cb09dde606
FixedwingPositionControl: Used corrected npfg roll output in path mode
2024-02-13 17:17:44 +01:00
1a1891073e
FixedwingPositionControl: Only warn user when roll is reduced for a longer period of time
2024-02-13 17:17:44 +01:00
b8714f8980
ROMFS: rc.simulator EKF2 setup specific to gazebo classic
2024-02-13 11:14:44 -05:00
0c099f2b56
Update submodule gz to latest Tue Feb 13 12:39:17 UTC 2024
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- gz in PX4/Firmware (c9ad60e3ccc78f7f0141f1c461fffbc78f7f0141...f1c461fffb#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
bb53781b8f
simulation/gz_bridge: enable navsat plugin for accurate positioning of real life maps in Gazebo ( #22638 )
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* 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
c9ad60e3cc
Update src/modules/navigator/mission_block.cpp
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Co-authored-by: Matthias Grob <maetugr@gmail.com>
2024-02-13 10:34:57 +01:00
a6ef7b6da9
RTL: write out weather vane in comments (instead of WV)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-13 10:34:57 +01:00
6957818603
RTL: clean up naming of function arguments
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-13 10:34:57 +01:00
cb03835124
RTL: use dest.yaw instead of a separate heading_sp
2024-02-13 10:34:57 +01:00
b19e35ec7c
RTL: change when to set a heading setpoint, generally leave it up to the executer
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-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
dce53a626e
boards: update all NuttX defconfigs
2024-02-12 08:58:49 -05:00
5f589bdda3
Update submodule GPSDrivers to latest Mon Feb 12 12:39:19 UTC 2024
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- GPSDrivers in PX4/Firmware (17ff40898c683e1fe96ff9e2d2790594d188f872): 3393191fbbf48cc01d313393191fbb...f48cc01d31
2024-02-12 08:58:21 -05:00
1998f54ea6
DifferentialDrive: move spoolup consideration to the main module
2024-02-12 14:29:10 +01:00
bef694f9ba
Added spoolup and removed temporary timeout for EKF
2024-02-12 14:29:10 +01:00
560d6a9d4b
cleanup + updated acro
2024-02-12 14:29:10 +01:00
f996caa5bd
Fixed bug in the guidance logic
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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
bb0dfba4e6
added acro mode
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Acro mode is manual mode, but with rate control
2024-02-12 14:29:10 +01:00
d197d94889
Fixed guidance logic and added feedforward term to compute the angular velocity
2024-02-12 14:29:10 +01:00
396ef222ee
DifferentialDrive: Rework structure
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3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
2024-02-12 14:29:10 +01:00
f85144ca76
DifferentialDrive: remove trailing zeros from prameter metadata
2024-02-12 14:29:10 +01:00
b54b4f7dce
Rename module differential_drive_control -> differential_drive
2024-02-12 14:29:10 +01:00
fc90e235f1
Rename differential drive setpoint topics
2024-02-12 14:29:10 +01:00
f7baeae1a0
DifferentialDriveControl: only save required parts of uORB message
2024-02-12 14:29:10 +01:00
e457a5baed
Differential Drive Guidance: Add guidance
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also add dependency on control allocation parameter CA_R_REV
Differential Drive Guidance: Added mission logic
Differential Drive Guidance
Differential Drive Guidance
Differential Guidance: Inlcude library
Differential Guidance: Compiles, does not work though
Differential Guidance: Works somewhat
Differential Guidance: Temp
Differential Guidance: Tuning
Differeital Drive Guidance: Remove waypoint mover
Differential Guidance: Fixed accuracy issue by converting from float to double
Differential Guidance: rebased on differentialdrive and improved waypoint accuracy
Temp
Differential Guidance: cleanup
temp
2024-02-12 14:29:10 +01:00
0f3925b21d
update all px4board kconfig
2024-02-09 10:48:26 -05:00
f636414ca7
tuning_tools: Change 1G to a more accurate value
2024-02-09 10:26:57 -05:00
00a9e4c76b
Auto: Change 1G to a more accurate value
2024-02-09 10:26:57 -05:00
31bbda0b58
boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps)
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* update gps submodule with sbf fix
* ARK Septentrio GPS initial commit
2024-02-09 10:26:09 -05:00
b355c16141
Lanbao driver: correct rangefinder type to IR
2024-02-09 06:19:12 +01:00
7fdb5ef3cb
PWMOut/px4io: correct automatic servo/motor configuration messages
2024-02-09 06:19:12 +01:00
3de7d83e5f
v6x board_sensors: publish system_power if ADC_ADS1115_EN is enabled
2024-02-08 16:11:34 +01:00
97cb933cff
FLightTaskAuto: limit nudging speed based on distance sensor
2024-02-07 11:23:55 +01:00
584d8abe1e
params: change return type of param_modify_on_import to enum
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Return early in param_import_callback() with 1 if we do a param_set in the param translation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-07 08:08:37 +01:00
982c998ab9
mc_attitude_control: move attitude setpoint pulling to right before usage
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-06 17:54:22 -05:00
e5cfbbb1ee
mc_att_control: remove direct setting of att sp in Stabilized
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Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-06 17:54:22 -05:00
3576d513cd
battery: make time remaining estimation dependent on level flight cha… ( #22401 )
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* battery: make time remaining estimation dependent on level flight characteristis for FW
* battery: fix that FW flight is also correctly detected when vehicle_status is not updated
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FixedwingPositionControl: Move constant to header file
* flight phase estimation: use tecs height rate reference to check for level flight
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-06 17:32:09 +01:00
bf52d8adc9
drivers/uavcannode: add indicated airspeed
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
2024-02-06 11:01:15 -05:00
a6fcb8ef1e
bat_sim: parameter for disabling battery simulator
2024-02-06 10:21:21 -05:00
1917c138f7
Bugfix removed conversion from rpm to rad s
2024-02-06 13:25:25 +01:00
Daniel Agar
bresch
Matthias Grob
Silvan Fuhrer
Konrad
Cyril C
PX4 BuildBot
Frederik Markus
PerFrivik
muramura
Alex Klimaj
fury1895
KonradRudin
Andrew Brahim
Alessandro Simovic