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41480 Commits

Author SHA1 Message Date
Beat Küng dafead6f20 logger: add compressed events metadata file if it exists in the ROMFS 
Allows to decode events not (yet) on main.
The file is currently ~15KB.
 2022-10-05 07:44:55 +02:00
Beat Küng 02035d94aa metadata: sort json output 
ensures the files don't change arbitrarily
 2022-10-05 07:44:55 +02:00
modaltb 06a0aedbdb
modalai_esc: directly using deadband param value instead of converting it to RPM 2022-10-04 20:14:59 -04:00
Thomas Debrunner 0af87ec745 mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support 2022-10-04 14:40:59 -04:00
Matthias Grob b179427b4c Remove opinionated non-default MPC_TKO_SPEED from airframes 2022-10-04 11:36:57 -04:00
pandafeng1999 e4b4df4e5d
drivers/distance_sensor/gy_us42: add the specified i2c address 2022-10-04 11:35:45 -04:00
Matthias Grob f96507bb22 vtol_takeoff: fix comment typo 2022-10-04 10:01:04 -04:00
Peter van der Perk c807d6079d FMUK66-V3 Enable DMA on SPI 2022-10-04 09:46:04 -04:00
Peter van der Perk 0cf2ecedb9 FMUK66 Disable Telnet to save RAM 2022-10-04 09:46:04 -04:00
Julian Oes 5c77bbcb4c ms5611: ignore reading 0 
This prevents publishing a negative pressure which leads to a NAN
altitude estimate further down the line.
 2022-10-04 09:37:53 -04:00
Beat Küng 04b1cbb423 vtol_att_control: standard: also do blending for FW controls 
So that the sum of the control is always 1.
 2022-10-04 09:54:11 +02:00
Silvan Fuhrer 6db92b4011 ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-04 07:51:25 +02:00
Zachary Lowell 4520186878
qurt: replacing qurt threads with pthread 2022-10-03 18:01:04 -04:00
bresch 4b687beb3b ekf2: remove old airspeed fusion code 2022-10-03 10:59:42 -04:00
bresch 299e6058e3 ekf2_test: test airspeed symforce vs sympy generated code 2022-10-03 10:59:42 -04:00
bresch 29ebef1f74 ekf2: migrate fuse_airspeed to SymForce 2022-10-03 10:59:42 -04:00
Daniel Agar 41cda14126 ekf2: add symforce code generation helper target 2022-10-03 10:59:42 -04:00
Daniel Agar c9441bb48a boards: px4_fmu-v2/v3 allow optional mpu9250 probe to fail without error 2022-10-02 21:40:18 -04:00
Benjamin Perseghetti aa2b47845a
new Gazebo simulation handle older gz versions (#20342) 2022-10-02 21:30:30 -04:00
PX4 BuildBot f4d2e176ae Update submodule sitl_gazebo to latest Sun Oct 2 12:38:54 UTC 2022 
- sitl_gazebo in PX4/Firmware (2bd1ac005f): b968405a61
    - sitl_gazebo current upstream: e804327595
    - Changes: b968405a61...e804327595

    e804327 2022-10-01 Thomas Stauber - set lidar measurements to 0.0 if out of range (#914)
7ed1da6 2022-09-27 Karthik S - Advanced Lift-Drag Plugin (#901)
669d7f5 2022-09-08 Oleg Kalachev - Fix local addr assignment for qgc and sdk sockets
 2022-10-02 10:54:31 -04:00
PX4 BuildBot f7a5c91fb3 Update submodule libcanard to latest Sun Oct 2 12:38:56 UTC 2022 
- libcanard in PX4/Firmware (8e144eece9e9cd5a23dbeb6723591f214cad631a): db87ea32aa
    - libcanard current upstream: 2e3b11f6b8
    - Changes: db87ea32aa...2e3b11f6b8

    2e3b11f 2022-07-15 Pavel Kirienko - Follow-up for #197 -- fix minor issues discovered by Sonar (#198)
106ceaf 2022-07-11 Dmitry Ponomarev - Fix cast-align warnings on ARM
8953fe6 2022-07-06 Dmitry Ponomarev - Add ARM build to github workflow
 2022-10-02 10:54:05 -04:00
PX4 BuildBot 644a836d0a Update submodule libevents to latest Sun Oct 2 12:39:02 UTC 2022 
- libevents in PX4/Firmware (ddc1e6d6c5c2707be5522d4c4d7434403202cf45): 82dabdb914
    - libevents current upstream: a89808bffd
    - Changes: 82dabdb914...a89808bffd

    a89808b 2022-09-26 Beat Küng - combine.py: sort json keys
 2022-10-02 10:53:28 -04:00
PX4 BuildBot cf0cd4ebf2 Update submodule mavlink to latest Sun Oct 2 12:39:04 UTC 2022 
- mavlink in PX4/Firmware (65bd1fd4c000a7fa0de2a0e8dce1ba9b2a62fa86): c46af52326
    - mavlink current upstream: dda5a18ddb
    - Changes: c46af52326...dda5a18ddb

    dda5a18d 2022-09-28 WickedShell - Support a return to default speed for DO_CHANGE_SPEED (#1890)
4e04dbbf 2022-09-24 Hamish Willee - MAV_FRAME_BODY_FRD - match to implementations and sanity (#1894)
89a61214 2022-09-23 Hamish Willee - DO_CHANGE_SPEED - clarify lifetime of speed setting (#1892)
11414f88 2022-09-21 Søren Friis - Clarify swarm fields (#1891)
5cdf8b60 2022-09-08 Hamish Willee - HOME_POSITION - clarify local frame means NED (#1886)
551e3b49 2022-09-07 Julian Oes - Fix CI (#1888)
d99ee9b6 2022-09-07 Julian Oes - pymavlink: update submodule to latest master (#1887)
92d2a58d 2022-09-01 Hamish Willee - common.xml:TIMESYNC docs and extensions (#1878)
c424dc65 2022-09-01 Julian Oes - minimal: try to make component ID less confusing (#1876)
153939bd 2022-09-01 Hamish Willee - Fix typo MAV_CMD_DO_SET_MISSION_CURRENT
5043a1e0 2022-09-01 Hamish Willee - MAV_CMD_DO_SET_MISSION_CURRENT - allow mission resetting (#1870)
90aa7bfc 2022-08-31 Chikirev Sirguy - Update common.xml (#1815)
554ccadd 2022-08-31 Hamish Willee - common: OpenDroneID messages no longer WIP (#1882)
06448cf6 2022-08-24 Hamish Willee - MAV_ODID_ARM_STATUS entries update to naming convention (#1883)
ff649224 2022-08-18 Patrick José Pereira - Fix gibberish descriptions ualberta.xml (#1881)
11f4b236 2022-08-18 Hamish Willee - Mission item - document values for autocontinue (#1868)
fb8ac31b 2022-08-18 Julian Oes - development: remove MISSION_CHANGED (#1879)
76b794c2 2022-08-18 Julian Oes - common: extend MISSION_CURRENT (#1869)
1ae3edc4 2022-08-15 Andrew Tridgell - common: added OPEN_DRONE_ID_SYSTEM_UPDATE message (#1880)
aa25f4df 2022-08-11 Andrew Tridgell - common: added OPEN_DRONE_ID_ARM_STATUS (#1873)
 2022-10-02 10:53:00 -04:00
Daniel Agar 2bd1ac005f
.gitmodules update branches master -> main 2022-10-01 12:22:22 -04:00
Silvan Fuhrer 9b3cb6c758
FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330) 
* FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Attitude controller: do manual control polling before attitude setpoint polling

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-30 13:45:20 +02:00
Silvan Fuhrer 34b6786f79 actuator_controls.msg: fix NUM_ACTUATOR_CONTROLS (9) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 14:25:16 -04:00
Beat Küng 64ae0049de mission: add support for NAV_CMD_DO_SET_ACTUATOR 2022-09-29 14:23:16 -04:00
Daniel Agar a27aeb30bf mc_pos_control: fix trajectory setpoint copy 
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
 - we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
 2022-09-29 14:17:00 -04:00
bresch 20b46ad33f ekf2_test: test validity of local position when not at rest 
At rest, the zero velocity update keeps the local position valid all the
time. Deactivate it to be able to test the validity checks
 2022-09-29 14:16:36 -04:00
bresch 1914053db2 ekf2: synchronize z_valid and v_z_valid 
mc_pos_control doesn't handle all the cases at the moment
 2022-09-29 14:16:36 -04:00
bresch f753b92cff ekf2: start fake pos fusion after dead-reckoning timeout 
Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
 2022-09-29 14:16:36 -04:00
bresch bb790c9bec ekf2: add vertical dead-reckoning timeout check for height validity 2022-09-29 14:16:36 -04:00
Thomas Stastny da99387215 welford mean: protect against negative variances 2022-09-29 14:14:16 -04:00
Thomas Stastny d3849c0265 welford mean: convert to matrix only template 2022-09-29 14:14:16 -04:00
Daniel Agar d4e5876d4c vehicle_imu: only reset raw accel/gyro Welford mean periodically 
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
 2022-09-29 14:14:16 -04:00
Benjamin Perseghetti f9522e831c
Gazebo Simulation Enablement (#20319) 2022-09-29 13:49:31 -04:00
Silvan Fuhrer f89df9d986 VTOL: make const and return when either of mc or fw att sp isn't updated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer fdcbabeb9e VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent 
Use a pitch of 0 to initialize the ramp otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer 9c5a423753 VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent 
This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer dd2e6bd416 ROMFS: SITL configs: enable airmode by default for all VTOLs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer fbc7e6a435 ROMFS: tiltrotor sitl config: use tilt for yaw in hover as opposed to differential thrust 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer 97e3b76a2e VTOL: improve readability of VT_FWD_THRUST_EN param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Roman Bapst 20457c5e2e
position_setpoint: replaced loiter_direction integer by boolean (#20317) 
* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-29 11:06:10 +02:00
Yang Hau 5d39fdba6d fix: Add boundary protection for array access 2022-09-29 08:11:03 +02:00
Yang Hau 2dcde93d96 fix: Fix misuse of atoi() 2022-09-29 08:11:03 +02:00
Yang Hau e2f3157ecb fix: Add missing comma for const strings 2022-09-29 08:11:03 +02:00
David Sidrane 99ef597719 Nuttx with backport of stm32h7:SDMMC fix unaligned access 2022-09-29 07:56:46 +02:00
Ville Juven 59e86c490d Remove include <log.h> from defines.h 
The reason for this is that log.h includes drv_hrt.h which sucks in
half the project's include files with it, which causes strange build
issues
 2022-09-29 07:56:24 +02:00
Daniel Agar 1f7080a710 ekf2: extend sensor bias stability requirement 
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
 2022-09-28 10:40:52 -04:00
Daniel Agar 16f8adb4b3 hysteresis: avoid subtracting unsigned integers 
- avoid potential errors with timestamp passed in from different sources
 2022-09-28 09:51:16 -04:00