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43095 Commits

Author SHA1 Message Date
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
bresch 6320ca64a9 ekf2-terr: allow range fusion before takeoff 2023-11-21 21:56:34 -05:00
bresch 0f3378e194 ekf2: fix terrain range finder logging 2023-11-21 21:56:34 -05:00
bresch 1c3a1183c8 ekf2-flow: refactor control logic 
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
 2023-11-21 21:56:34 -05:00
alexklimaj 5f8ecd6b40 driver: ina2** allow 3 indexes 2023-11-21 21:44:39 -05:00
Roman Bapst dd2322d622
Added PerformanceModel for fixed wing (#22091) 
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
 2023-11-21 17:13:50 +01:00
Silvan Fuhrer 70cd224236 EKF2 params: remove wrong horizontal keyword and gps-->GNSS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-21 15:23:33 +01:00
bresch c7672fc68c ekf2-params: delta vel/ang -> accel/gyro 2023-11-20 20:10:16 -05:00
bresch f2482d7157 ekf-pdf-report: plot bias using bias msg instead of state vector 2023-11-20 20:10:16 -05:00
Julian Oes a501262a6b icm45686: fix dt (and usage command) 
With the wrong dt, the flight behaviour was really poor and noisy, so
this fix is absolutely required.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-21 07:44:00 +13:00
alexklimaj 1b99e7df81 px4io: change not supported message to INFO instead of ERR 2023-11-20 08:54:32 -05:00
David Sidrane 8f02184669 px4io:Add 'supported' command and uses it in rcS 2023-11-20 08:54:32 -05:00
Matthias Grob 9bed8f48c7 Remove LNDMC_ALT_MAX 
This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
 2023-11-20 14:52:35 +01:00
PX4 BuildBot fd4d635035 Update submodule mavlink to latest Sun Nov 19 12:39:21 UTC 2023 
- mavlink in PX4/Firmware (e819620173822548d05b6f309c615b48eda9261c): 81524c2b34
    - mavlink current upstream: 70181c42fc
    - Changes: 81524c2b34...70181c42fc

    70181c42 2023-10-12 Hamish Willee - MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET - set units to deg
f484eaf8 2023-10-11 Hamish Willee - Update test_and_deploy.yml - drop node 12 (#2041)
44197849 2023-10-11 tom - Cleanup of typos and inconsistencies in common.xml (#2044)
b295e70e 2023-09-28 Hamish Willee - Update ardupilotmega.xml - delete SPEED_TYPE (#2042)
e8d796a4 2023-09-27 Hamish Willee - SPEED_TYPE enum for MAV_CMD_DO_CHANGE_SPEED (#2039)
c313a2f3 2023-09-23 Asif Khan - common:  Add camera instance field to MAV_CMD_IMAGE_START/STOP_CAPTURE (#2024)
cad18c56 2023-09-20 Marcin - Add VELOCITY_LIMITS msg (#2015)
 2023-11-19 11:51:35 -05:00
Daniel Agar 58d6d03da3
Update submodule devices to latest Sun Nov 19 12:39:11 UTC 2023 
- GPS drivers in PX4/Firmware (0f7a34a64dd69ad074b47726eedeef147fe0f700): b443b79f57
 - GPS drivers current upstream: 6e452c2c5b
    - Changes: b443b79f57...6e452c2c5b

    6e452c2 2023-10-27 Robbie Drage - move NO_MKTIME compilation flags - removes dependency on tm struct being defined without MKTIME - removes unnecessary operations

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-19 11:49:39 -05:00
Andrew Brahim 3433a4cbc9
boards/nxp/mr-canhubk3/fmu.px4board: add common sensor sets and uxrce-dds drivers 
* Add common sensor sets (pressure, distance, mag, optical) and enable uxrce-dds client on mrcanhubk3

---------

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2023-11-19 10:54:14 -05:00
Braden Wagstaff 35e13a908e DDS Add battery_status publisher 2023-11-18 11:06:02 +00:00
alexklimaj 42d70808e9 uxrce add manual control input subscriber 2023-11-18 11:06:02 +00:00
Bryce Clark 83c461ebb8 cubeorangeplus added to CMake variants to allow debugging CubePilot Cube Orange Plus through VSCode 2023-11-17 19:53:39 -05:00
PX4 BuildBot ae89c30a18 boards: update all NuttX defconfigs 2023-11-17 09:15:14 -05:00
PX4 BuildBot 047a5a7abf update all px4board kconfig 2023-11-17 09:14:46 -05:00