1s gives some false positives at boot up, as the airspeed selector only
starts publishing 2s after its startup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-remove dedicated vtol transition airspeed init logic
-init airspeed setpoint on first usage of tecs
-init to max of current airspeed and min airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* events: pass relative paths plus base path to source parser script
to work around maximum Makefile command lenght limits.
* events: correct cmake comment typo
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
The _control_mode_current wasn't updated otherwise, and only done so by luck
because we already set the current type to SETPOINT_TYPE_POSITION.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- double required max consecutive counts
- don't continuously complain about round trip time (RTT) unless
there's been at least one acceptable round trip (latency < 100 ms)
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec
With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.
It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
- This fixes the force call on SensorSelectionUpdate
- In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
-remove external init, and instead always (but only) init when dt is too large
-init the controller params correctly
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
PerFrivik
Peter van der Perk
bresch
MaEtUgR
Matthias Grob
Silvan Fuhrer
Frederik Markus
Daniel Agar
oystub
Niklas Hauser
marcojob
Kjersti Brynestad
GuillaumeLaine
Marcin
PX4 BuildBot
Beat Küng
Konrad