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43618 Commits

Author SHA1 Message Date
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
PerFrivik e457a5baed Differential Drive Guidance: Add guidance 
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
PX4 BuildBot 0f3925b21d update all px4board kconfig 2024-02-09 10:48:26 -05:00
muramura f636414ca7 tuning_tools: Change 1G to a more accurate value 2024-02-09 10:26:57 -05:00
muramura 00a9e4c76b Auto: Change 1G to a more accurate value 2024-02-09 10:26:57 -05:00
Alex Klimaj 31bbda0b58
boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps) 
* update gps submodule with sbf fix
* ARK Septentrio GPS initial commit
 2024-02-09 10:26:09 -05:00
Matthias Grob b355c16141 Lanbao driver: correct rangefinder type to IR 2024-02-09 06:19:12 +01:00
Matthias Grob 7fdb5ef3cb PWMOut/px4io: correct automatic servo/motor configuration messages 2024-02-09 06:19:12 +01:00
fury1895 3de7d83e5f v6x board_sensors: publish system_power if ADC_ADS1115_EN is enabled 2024-02-08 16:11:34 +01:00
Matthias Grob 97cb933cff FLightTaskAuto: limit nudging speed based on distance sensor 2024-02-07 11:23:55 +01:00
Silvan Fuhrer 584d8abe1e params: change return type of param_modify_on_import to enum 
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
Silvan Fuhrer 982c998ab9 mc_attitude_control: move attitude setpoint pulling to right before usage 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-06 17:54:22 -05:00
Silvan Fuhrer e5cfbbb1ee mc_att_control: remove direct setting of att sp in Stabilized 
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
KonradRudin 3576d513cd
battery: make time remaining estimation dependent on level flight cha… (#22401) 
* 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
Andrew Brahim bf52d8adc9
drivers/uavcannode: add indicated airspeed 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-02-06 11:01:15 -05:00
Alessandro Simovic a6fcb8ef1e bat_sim: parameter for disabling battery simulator 2024-02-06 10:21:21 -05:00
PerFrivik 1917c138f7 Bugfix removed conversion from rpm to rad s 2024-02-06 13:25:25 +01:00
bresch 17d55dddd6 ekf2-drag: do not generate Kalman gain to save flash 2024-02-06 12:16:33 +01:00
bresch 1efb08375a ekf2: let drag fusion affect the complete state vector 
This improves tilt estimation and can extend the inertial dead-reckoning
validity period
 2024-02-06 12:16:33 +01:00
Peter van der Perk 8dae9905aa fmu-v6xrt: hotfix for sdio crash when reading multiblock to unaligned memory 2024-02-05 11:17:33 -05:00
Beat Küng c78389a855 commander: send ack for VEHICLE_CMD_DO_SET_ACTUATOR 2024-02-02 09:38:28 -05:00
Beat Küng 8b422c5ed6 fix FunctionActuatorSet: if a param is set to NaN, it should be ignored 
MAVLink spec: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR
Previously, a command was overwriting all other indexes.
 2024-02-02 09:38:28 -05:00
cuav-liu1 75d6e523b5 ICP201: Fix B2 version not return in bootup config 2024-02-02 09:37:18 -05:00
Vincent Poon 6dbb798e37 Change FMU-v6x REV 6 IMU Order 
Change IMU Order, make adis16470 in 1st priority.
 2024-02-02 05:49:21 -05:00
David Sidrane c07edd1d9a px4_fmu-v6x:Add Sensor set 8 2024-02-01 21:11:32 -05:00
Julian Oes 2cfdea2edb fmu-6x: fix Telem2 without flow control 
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-02-02 06:52:17 +13:00
Niklas Hauser 103ddb5b3d cpuload: Fix wrong idle thread load 
When the CPU load monitor is started while already running, then the
idle thread last_times[0] is reset to the last 1 second, rather than
since when the CPU load monitor was last started. The remaining threads
are not impacted, since their last_times[i] is reset to zero here.

This results in the idle thread having a lower than real CPU load, with
the remaining CPU time being wrongly attributed as scheduler load.
 2024-01-31 07:52:59 +01:00
David Sidrane 76a2acb222 stm32h7:adc Dynamically set clock prescaler & BOOST 
The ADC peripheral can only support up to
   50MHz on rev V silicon and 36MHz on Y silicon.
   The existing driver always used no prescaler
   and kept boost setting at 0.
 2024-01-30 18:07:57 -05:00
David Sidrane 543454f12e stm32h7:ADC STM32_RCC_D3CCIPR_ADCSEL->STM32_RCC_D3CCIPR_ADCSRC 2024-01-30 18:07:57 -05:00
David Sidrane 85bfba4497 NuttX with h7 adc clock Backports 2024-01-30 18:07:57 -05:00
Matthias Grob 3e183feb49 matrix: Slice templated on const and non-const matrix cases 
to avoid casting const to non-const with
`const_cast<Matrix<Type, M, N>*>(data)`
 2024-01-30 11:46:33 -05:00
Matthias Grob 88102d82db matrix: return value simplifications 2024-01-30 11:46:33 -05:00
Matthias Grob 44a8c553fb AxisAngle use Vector3<T> instead of Vector<T, 3> 2024-01-30 11:46:33 -05:00