8da8b88a54
Fixed and added Qurt platform dsp_hitl driver
2024-02-21 11:54:02 -05:00
be08c57a0a
Changed order of service startup in SLPI DSP muorb since parameter library now needs work queues
2024-02-21 11:54:02 -05:00
a436a8f3b8
Fixed unresolved symbol error for qurt platform due to missing sbus library
2024-02-21 11:54:02 -05:00
5ad0e68d8e
Fix build error for Qurt platform in pab_manifest.c
2024-02-21 11:54:02 -05:00
f07eeaa776
Added special muorb startup ordering in px4_init for posix platform
2024-02-21 11:52:24 -05:00
506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)
2024-02-21 09:45:44 -05:00
643d3e3bf3
Navigator: Prevent busy-looping if Dataman read/write times out
...
MissionBase did not initialize its mission data, thus could enter an
infinite loop in updateDatamanCache() if the initMission() failed to
read the mission off, for example, due to the SDCard storage task taking
longer than the timeout to respond.
This change constrains the loading loop and resets the mission data even
if the data write failed.
2024-02-21 13:31:43 +01:00
8243b4f474
ekf2: move vel/pos reset helpers
2024-02-20 13:16:24 -05:00
22b957696d
ekf2: velocity/position fusion helper minor consistency cleanup
2024-02-20 13:16:24 -05:00
c338891677
ekf2: split vel_pos_fusion.cpp
2024-02-20 13:16:24 -05:00
c4c41c49e5
ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()
...
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-20 13:16:24 -05:00
021dd0d0af
ekf2: fix EV height bias predict call
...
- 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
...
And add unit tests.
2024-02-20 14:27:49 +01:00
8a75733511
Navigator: fix VTOL land waypoint calculation
...
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 )
...
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
...
- 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 )
...
* 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
...
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)
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-02-13 10:34:57 +01:00
6957818603
RTL: clean up naming of function arguments
...
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
...
-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
...
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
...
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
...
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
...
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
Eric Katzfey
Daniel Agar
Niklas Hauser
bresch
Matthias Grob
Silvan Fuhrer
Konrad
Cyril C
PX4 BuildBot
Frederik Markus
PerFrivik
muramura
Alex Klimaj