Commit Graph

43595 Commits

Author SHA1 Message Date
Beat Küng 70346a5b2f failsafe: set cause to generic when fallback mode is activated
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
2024-03-15 14:06:58 +01:00
Silvan Fuhrer da39d075ac Commander enums: shorten failsafe event messages
Such that the focus is on the important keywords.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer f6430a27d6 Commander enums: capitalize battery level key words
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer 4ae2fbd171 Commander enums: capitalize flight mode names
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer 6e15dd5328 Commander: trigger warning when arming denied due to check failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:34:11 +01:00
Silvan Fuhrer d330d47495 EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid
Helps to reduce spamming of less important warnings.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:56 +01:00
Silvan Fuhrer 6d8273483c Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:41 +01:00
bresch 7c6ecd95a8 mc_wind_estimator_tuning: optionally use GNSS velocity
Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
bresch b2f1122372 ekf2: remove old yaw 321 and 312 derivations 2024-03-14 11:33:45 -04:00
bresch ee63f3e664 update change indicator 2024-03-14 11:33:45 -04:00
bresch e3f67d5c1a ekf2: new yaw derivation
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
2024-03-14 11:33:45 -04:00
Silvan Fuhrer 6373d8d243
commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first (#22887)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 16:30:06 +01:00
Silvan Fuhrer 68fcfc43ef
mro-zero classic: remove gyro fft module to save flash (#22878)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 14:20:51 +01:00
Eric Katzfey ae947513d7
add load_mon support for Qurt platform (#22883)
- Added check in commander to see if CPU load monitoring has been disabled before signalling overload
2024-03-13 21:33:58 -04:00
Alexander Lampalzer ad50afda10
update msg_files to PARENT_SCOPE (#22800) 2024-03-13 09:34:47 +01:00
Niklas Hauser 23c5c0b12d dataman: Add client sync perf counter and increase default timeout to 5s 2024-03-13 09:22:38 +01:00
Daniel Agar a1cce7e961 uxrce_dds_client: optimizations and instrumentation
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
2024-03-12 16:22:26 -04:00
Daniel Agar b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
2024-03-12 16:22:26 -04:00
Silvan Fuhrer 9f4ae0a85d
vtol: only publish generic warning through mavlink to safe flash (#22870)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 13:27:13 +01:00
Silvan Fuhrer 00cc68baa1
Commander: make low remaining flight time configurable and fix clearing condition (#22863)
* Commander: make low remaining flight time configurable and do not clear

- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low

* battery check: add hysteresis for declaring battery_low_remaining_time false again


---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
2024-03-12 12:56:01 +01:00
Silvan Fuhrer 7fe5ee64fe rtl_direct: fix on_inactive()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:27:49 +01:00
Silvan Fuhrer 7f370ac6df Tiltrotor: disable MC yaw fade out during front transition blending
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:26:07 +01:00
Thomas Stauber 1ad83a8002
mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame (#22866) 2024-03-11 19:49:11 -04:00
Eric Katzfey 18d53c3bfd
boards/modalai/voxl2: Add new capabilities to Qurt platform HITL driver
* Added new sensor control options and test capability in dsp_hitl
* HITL working in VIO mode only
* Fixed units on GPS HIL input
2024-03-11 19:47:15 -04:00
Eric Katzfey f4ebfa6130
parameters: support for an optional remote parameter database (#22836)
The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote.
2024-03-11 13:52:22 -04:00
Konrad c5fde63440 mission: The mission check on activation should only be performed for a mission, not RTL.
We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.
2024-03-11 17:08:56 +01:00
Silvan Fuhrer cb8520427c rtl direct: fix setting of previous altitude (abs vs rel)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-11 14:04:02 +01:00
Silvan Fuhrer 86c074378f rtl_direct_mission_land: fix abs/rel usage of item.altitude
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-11 14:04:02 +01:00
Konrad e9fda548fa rtl_direct: Rtl estimate only needs valid destination, not home position 2024-03-11 14:04:02 +01:00
Konrad 91d1342f20 rtl_direct_mission: rtl_estimate for fixedwing land is diagonal 2024-03-11 14:04:02 +01:00
Konrad 89844625b4 rtl: reduce time estimate calculations 2024-03-11 14:04:02 +01:00
Konrad fde71cd15e rtl_direct_mission_land: add time estimation for RTL mission land 2024-03-11 14:04:02 +01:00
Konrad 14e4169473 rtl_direct: Move the time estimation calculation into a separate helper class 2024-03-11 14:04:02 +01:00
KonradRudin 8dcfcf5b9e
mission_base: land_start_item invalid only when negative. (#22856)
rtl: land_start_item invalid only when negative.

Update src/modules/navigator/rtl.cpp
2024-03-11 09:46:16 +01:00
alexklimaj a80a5a92f4 boards: ARK Flow fix typo 2024-03-09 16:40:59 -05:00
alexklimaj b81ad8841e drivers: broadcom AFBR update to API 1.5.6 2024-03-09 16:40:59 -05:00
Eric Katzfey 57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815)
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2024-03-08 16:28:24 -05:00
Alexis Guijarro 006dcfafb7
boards/mro/ctrl-zero-classic: corrections for mRo Control Zero Classic Board (#22745)
- Build target changed from STM32H743II to STM32H743ZI
- Missing external SPI interface added
- Nonexistent  I2C3 interface removed
- I2C4 pins changed
- Red and Green LED lights remapped
- Missing ADC inputs added and already present ones corrected
- CAN Silent interfaces corrected
- Power pins corrected and Level Shifter pin added to enable ICM20948
- Buzzer pin remapped
- HRT channel and PPM pin changed
- RSSI input remapped
- ICM20602 and BMI088 pins corrected
- Serial ports remapped
2024-03-08 14:50:53 -05:00
Silvan Fuhrer 85a882e1ce
FW Position Control: control_backtransition(): always track line from start (#22853)
Remove option to track from previous wp to reduce complexity and fix
case where prev=current point and the line following broke down.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-08 19:11:08 +01:00
Konrad 04099ed483 mission_base: Force mission validity check on activation 2024-03-08 17:26:04 +01:00
Konrad 1aa26a5a91 missionFeasibilityChecker: Fix tests 2024-03-08 17:26:04 +01:00
Konrad acd750e033 mission_base: Run feasibility checker only after first global position has been published 2024-03-08 17:26:04 +01:00
Konrad 6c6142ba79 MissionFeasibiltyChecker: Do not delete uorb data on reset. 2024-03-08 17:26:04 +01:00
Konrad 7fb584adbe MissionResult uorb: fix wrong int types 2024-03-08 17:26:04 +01:00
Konrad fb3aab1fb0 mission_base: check mission feasibility again, if geofence has changed. 2024-03-08 17:26:04 +01:00
Konrad 1b03ac4d2b mission_base: Only run mission feasibility if the geofence module is ready 2024-03-08 17:26:04 +01:00
Konrad 815cea2abb geofence: publish status of loaded geofence 2024-03-08 17:26:04 +01:00
Konrad 51321c605e mission_base: clean up mission check evaluation 2024-03-08 17:26:04 +01:00
Konrad a0ae073d8c mission_base: Do not initialize mission from dataman. only listen on mission topic 2024-03-08 17:26:04 +01:00
Silvan Fuhrer 7884e0a3f7
Navigator: remove vtol_takeoff special handling for RTL (#22844)
We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-08 11:40:14 +01:00