85a621303d
VtolLandDetector: remove airspeed check
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This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-22 08:31:32 +02:00
32c6ec061e
sensors: add kconfig options to skip angular velocity and acceleration
2022-07-21 11:27:09 -04:00
c9c62b860c
ROMFS: add generic tiltrotor VTOL (13200)
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Add geometry for a quad tiltrotor VTOL, with only front motors tiltable,
two ailerons and a V-tail.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
3ffc37d988
ROMFS: generic tailsitter VTOL: enable CA by default and remove legacy mixer
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
ab58717313
ROMFS: standard VTOL: enable CA by default and remove legacy mixer
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
607c53e873
ROMFS: flying wing: enable CA by default and remove legacy mixer
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
4dabc8b7ed
ROMFS: standard plane: enable CA by default and remove legacy mixer
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-07-21 10:09:12 -04:00
70e95812e7
ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags)
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- so that there's new filtered data avaiable for reset
2022-07-21 09:24:28 -04:00
ecdade3638
ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails
2022-07-21 09:24:28 -04:00
05133aed27
ekf2: clear test ratios, flags, etc when stopping mag fusion
2022-07-21 09:24:28 -04:00
65a587e56a
ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed
2022-07-21 09:24:28 -04:00
a41a0e7e80
ekf2: resetMagHeading() split out simple init case
2022-07-21 09:24:28 -04:00
9efadad06a
ekf2: move checkMagFieldStrength() to magFieldStrengthDisturbed() const method
2022-07-21 09:24:28 -04:00
a7f573e150
ekf2: delete isStrongMagneticDisturbance()
2022-07-21 09:24:28 -04:00
e6e27e694e
ekf2: delete isYawResetAuthorized()
2022-07-21 09:24:28 -04:00
0f1f6daa1a
ekf2: delete isMagBiasObservable()
2022-07-21 09:24:28 -04:00
d160229f47
ekf2: delete isYawAngleObservable()
2022-07-21 09:24:28 -04:00
b0c979f745
ekf2: add copyright header to EKFGSF_yaw and utils
2022-07-21 09:24:28 -04:00
4fee059696
ekf2: simplify mag yaw reset request when transitioning to mag enabled
2022-07-21 09:24:28 -04:00
f254b55523
ekf2: add mag fusion timestamps
2022-07-21 09:24:28 -04:00
e3e067d640
stub_keystore: Allow using also with other that SW_CRYPTO driver
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Remove "depends on DRIVERS_SW_CRYPTO"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
2022-07-21 08:08:14 +02:00
026bd073b5
Don't error on CONFIG_CRYPTO_RANDOM_POOL not defined
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px4_secure_random can be implemented also outside NuttX for some platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
2022-07-21 08:08:14 +02:00
d6fb1114ff
rtl: fix printout of rtl delay time
2022-07-20 14:15:12 +02:00
1ec62c4063
rtl: let fixed-wing RTL all the way to the loiter/delay state
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also fix home vs destination alt discrepancy on RTL
2022-07-20 14:15:12 +02:00
2f3cb97872
sensors/vehicle_magnetometer: don't advertise vehicle_magnetometer instance if mag has been disable
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- if using multi-EKF across all magnetometers then an instance of
vehicle_magnetometer is advertised immediately for every sensor_mag
instance
- this can become problematic if EKF2 multi-mag is enabled, but with
only 1 IMU (EKF2_MULTI_MAG) because you will be stuck with no magnetometer data
2022-07-20 01:18:19 -04:00
e5be0e776e
ekf2: if multi-mag disabled (EKF2_MULTI_MAG <= 1) properly re-enable sensors hub selection (SENS_MAG_MODE)
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- this prevents potential misconfiguration if trying to disable ekf2 multi mag
2022-07-20 01:16:55 -04:00
8ccd8fbed1
px4io: minimal backup scheduling regardless of dynamic mixing
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- even if there's no configured output we still need to run to grab RC
data
2022-07-20 01:15:36 -04:00
8f8615e6c2
delete CBRK_RATE_CTRL
2022-07-20 01:14:53 -04:00
67107f4978
.clang-tidy: exclude some warnings
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Some are too verbose, others don't apply to the code base
2022-07-20 01:14:04 -04:00
84b0a889a4
cmake: add clion support
2022-07-20 01:14:04 -04:00
f22dc80ecc
system: add missing includes (added indirectly via visibility.h for normal builds)
2022-07-20 01:14:04 -04:00
ea136e73be
ekf2: remove unused variables
2022-07-20 01:14:04 -04:00
cd66a262ee
Robustify RTPS bridge stream parsing.
2022-07-20 01:13:47 -04:00
089fbdccc9
UAVCANNODE NuttX SocketCAN driver
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Change init mode for CAN driver so it get executed in a single context
2022-07-20 01:12:43 -04:00
47aaa38d5f
Added DroneCAN SocketCAN driver Skeleton
2022-07-20 01:12:43 -04:00
14df1ee917
boards: px4_fmu-v5x_rtps disable systemcmds/gpio to save flash
2022-07-20 01:05:28 -04:00
2ece92abd0
sagetech_mxs: module.yaml remove invalid default
2022-07-20 01:00:15 -04:00
ace80e2b9d
fw_att_control: add simple backup scheduling if vehicle_attitude unavailable (or stops)
2022-07-20 00:53:37 -04:00
1603883dc9
Configure SCALED_PRESSURE so temperature data is available to QGroundControl
2022-07-20 00:49:11 -04:00
a110032dc0
Fix typo in SCALED_PRESSURE*_HPP defines
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This was preventing SCALED_PRESSURE* from being added to the list of
streams, so even if it was configured it still wouldn't work.
2022-07-20 00:49:11 -04:00
413ce8a3c4
fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter
2022-07-19 22:37:09 -04:00
de3ac12ecd
fw pos ctrl params: clarify landing parameters, change defaults
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FW_LND_USETER defaulted to 1 and FW_LND_ABORT terrain based bits all enabled. why? because using a distance sensor is critical to detecting when to flare, and we want to force the user to actively disable these safety settings if they so choose, so that they understand the implications.
2022-07-19 22:37:09 -04:00
26cb55ec2c
fw pos ctrl: takeoff and landing nudging enabled by default
2022-07-19 22:37:09 -04:00
121cc1fce8
fw pos ctrl: rework landing abort status
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abort boolean and reasons no longer separated, single status field with corresponding abort triggers
2022-07-19 22:37:09 -04:00
694d36050a
fw pos ctrl: update landing parameter descriptions
2022-07-19 22:37:09 -04:00
888e72661f
fw pos ctrl: add option to fix the glide slope reference altitude
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- new param, FW_LND_TER_REL
- fixing the glide slope helps keep the landing glide behavior steady (avoiding bumps in the altitude setpoint from e.g. trees)
- flare is still triggered via the distance sensor, if enabled by FW_LND_USETERR
2022-07-19 22:37:09 -04:00
c60b215574
fw pos ctrl: allow negative landing glide slope relative altitude
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when the vehicle did not track the slope well (e.g. at an offset above the track) and the altitude setpoint flattening on intersection with terrain, the throttle would spool up to smoothly intersect the newly flattened altitude setpoint, this could happen before the flare altitude was reached, which is bad. now the steady state glide behavior will be maintained, and flare can trigger at the appropriate time
2022-07-19 22:37:09 -04:00
4953fdd1ab
fw pos ctrl: variable min calibrated airsp in auto airspeed adjuster
2022-07-19 22:37:09 -04:00
6612d4696d
fw pos ctrl: fix glide slope calculation, from geometry, not param
2022-07-19 22:37:09 -04:00
d73b2e8625
fw pos ctrl params: update flaring param values and docs
2022-07-19 22:37:09 -04:00
Silvan Fuhrer
Daniel Agar
Jukka Laitinen
Thomas Stastny
Beat Küng
Thomas Schneider
Peter van der Perk
jasta