a0e43bca96
msg: remove unused vehicle_actuator_setpoint topic
2021-11-23 12:40:22 -05:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
6fdcc43ea8
mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg
2021-11-23 12:40:22 -05:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
91c48606ee
battery_status: clearly define and handle zero remaining flight time
2021-11-15 15:44:02 +01:00
54f2e91775
battery_status: report remaining flight time in seconds
...
This allows more accurate reporting and is compliant with the
MAVLink interface.
2021-11-15 15:44:02 +01:00
7ec8dd9d23
vehicle_constraints: remove deprecated speed_xy constraint
2021-11-09 21:47:06 -05:00
d47f9f155a
MC mixer: replace multirotor_motor_limits by control_allocator_status
...
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
2021-11-09 10:35:10 -05:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
...
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
...
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
baf81abbab
msg: whitespace only
2021-11-09 16:05:25 +01:00
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
2021-11-09 16:05:25 +01:00
cda6524421
manual_control: move override detection
...
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
723db8bf2a
manual_control: add selector class [WIP]
...
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
e18cf3da3e
sensors/vehicle_imu: use WelfordMean for online mean and variance
2021-11-09 15:19:35 +01:00
cda7c6ceaa
Enable offboard actuator setpoints
2021-11-07 15:38:42 -05:00
68026eadeb
save significant IMU bias changes learned by the EKF
...
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 15:34:27 -05:00
1e94512719
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
3f1025fb1e
FD: add dedicated topic to log more internal states
...
log imbalanced propeller check metric
add failure_detector_status message
2021-11-05 09:45:52 -04:00
5dfb8e594a
FD: add imbalanced propeller check
2021-11-05 09:45:52 -04:00
bf2fb70d67
vehicleIMU: compute and log accel variance
2021-11-05 09:45:52 -04:00
f02786d112
Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL
...
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-11-05 12:09:39 +03:00
cad7851774
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-10-22 17:00:35 +02:00
625f556b0e
AirspeedSelector: airspeed scale estimation improvements and robustification
...
- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-10-22 17:00:35 +02:00
8a2b310b83
topic_listener: avoid code generation, use existing metadata at runtime
...
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
2021-10-20 08:10:05 +02:00
4c73ac3805
uorb: use single byte for internal types in o_fields metadata
...
Reduces flash usage by ~9KB.
2021-10-20 08:10:05 +02:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
a65533b469
mixer_module: add output functions for servos, landing gear, parachute, RC passthrough & gimbal
2021-10-18 18:45:19 -04:00
5103f00de3
vehicle_command.msg: add VEHICLE_CMD_DO_SET_ACTUATOR
2021-10-18 18:45:19 -04:00
38fa65a47e
control_allocator: remove direct mixer, add actuator_{motors,servos} instead
2021-10-18 18:45:19 -04:00
ec178c8745
create new mag_bias_estimator module
...
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-10-02 21:25:21 -04:00
5874b1f87c
mc atune: add module to all targets
...
- adjust flash constrianed targets to fit
2021-10-02 18:12:05 -04:00
0498ee92d0
mc atune: add multicopter attitude auto-tuner module
2021-10-02 18:12:05 -04:00
d504b49695
mc_rate: compute control energy and publish to status msg
2021-10-02 18:12:05 -04:00
b24e5fc0af
clean remaining offboard_control_signal_found_once
...
offboard_control_signal_found_once is not used any more
2021-09-28 09:25:04 -04:00
089c962d92
px4io: moving mixing to FMU side
...
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-09-25 19:15:05 -04:00
3a148bc777
camera_trigger: remove camera trigger secondary
...
camera_trigger: publish trigger when capture feedback is not enabled
2021-09-23 09:21:56 +02:00
f41e5985e8
vehicle_local_position: clarify origin of system
2021-09-22 10:14:23 +02:00
d1f1e02afb
Refactor mode button changes
2021-09-14 09:52:32 +02:00
c50daae4a3
rc_update: introduce support for toggle buttons via RC channels
...
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2021-09-14 09:52:32 +02:00
fa4fc5f347
esc_report: change esc_temperature field to allow negative values
...
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2021-09-11 15:14:49 -04:00
00d939995b
fix micrortps_transport: set poll fd when baudrate is 0
2021-08-22 10:42:13 -04:00
c0efbe1f9c
change PublicationMulti-> Publication as a temporary fix
2021-08-20 19:56:56 +01:00
6423ea50e6
add sensor_combined to urtps_bridge_topics.yaml
2021-08-18 23:52:45 +01:00
8aecc64a73
generate uorb - support multiline descriptions
2021-08-16 08:29:44 +02:00
9c081ed24b
ekf2_timestamps.msg - make first line a complete sentence
...
Fixes the docs.
2021-08-16 08:29:44 +02:00
51fa834ac6
generate_msg_docs: generate better page title
2021-08-16 08:29:44 +02:00
ff39e27e2d
sensor calibration: save temperature at calibration time for monitoring
2021-08-15 11:19:24 -04:00
f2bae02f87
msg: purge unused qshell
2021-08-14 12:54:01 -04:00
21953daa3b
microRTPS: transport: fix UART configuration
2021-08-12 08:44:53 +02:00
4b6646c5f3
microRTPS: transport: normalize configs with mavlink/mavlink-router
2021-08-12 08:44:53 +02:00
af8a6117fa
microRTPS: agent: add missing 'g' option
2021-08-12 08:44:53 +02:00
2a368b4db1
uorb_to_ros_urtps_topics: minor cleanup
2021-08-12 08:44:53 +02:00
74557c9071
uorb_to_ros_msgs: minor cleanup
2021-08-12 08:44:53 +02:00
8762dce762
microRTPS: transport: small format fix
2021-08-12 08:44:53 +02:00
fae1627d92
microRTPS: client: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
109b031156
microRTPS: agent: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
e83a3a6cf7
microRTPS: update RTPS message list naming from 'ids' to 'msgs'
2021-08-12 08:44:53 +02:00
0b23679f98
msg: templates: update empy contexts, required fields and license header years
2021-08-12 08:44:53 +02:00
ffa70ac0fd
microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files
...
Reducing the generation time to a 4th of the time (!!)
2021-08-12 08:44:53 +02:00
a8a56a03a4
microRTPS: rename uorb_to_ros_rtps_ids to uorb_to_ros_urtps_topics and remove the 'id' references on it
2021-08-12 08:44:53 +02:00
4609949bbb
microRTPS: generate_microRTPS_bridge: only run the generator for the topics that are actually marked to be used
2021-08-12 08:44:53 +02:00
695e1fa574
uorb_to_ros_rtps_ids: add an header with a notice regarding the autogneration of the 'px4_ros_com' urtps_bridge_topics.yaml file
...
Although it can be modified manually, we are going to recommend the developer to generate it from the PX4-Autopilot side instead
2021-08-12 08:44:53 +02:00
c478e2985a
microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic
...
1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
2021-08-12 08:44:53 +02:00
ba3dbbd38d
microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB
...
This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
2021-08-12 08:44:53 +02:00
a10dab516c
timesync: remove system ID field from the timesync message
2021-08-12 08:44:53 +02:00
25dbffe1aa
microRTPS: agent: split FMU input from output topics in Pubs/Subs
2021-08-12 08:44:53 +02:00
d31b7feb31
microRTPS: agent: publish timesync status
2021-08-12 08:44:53 +02:00
a324e5465a
timesync: extend timesync_status message with protocol source field and enum
2021-08-12 08:44:53 +02:00
6d4f65a47a
microRTPS: allow timesync using ROS time
2021-08-12 08:44:53 +02:00
0c9fefce32
urtps: rectify comment
2021-08-12 08:44:53 +02:00
31b1241de8
uorb_microcdr: collect all messages
...
Without this we are potentially too slow to collect them all which can
lead to the buffer in protocol_splitter to overflow and be reset.
2021-08-12 08:44:53 +02:00
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
86dc35022a
generate_msg_docs.py: simplify logic a bit
2021-08-03 07:54:41 +02:00
bf59fd84ba
Add simple comment parser
2021-08-03 07:54:41 +02:00
da6275e43a
msg: add script structure to generate docs from .msg files
2021-08-03 07:54:41 +02:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
af2247bd94
mavlink: use dynamic camera comp id instead of hardcoded value
2021-07-31 12:41:49 -04:00
d08d0443bc
Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream
2021-07-30 22:31:43 -04:00
713a1d08a3
sensors: add accel/gyro current priority to sensors_status_imu
...
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
2021-07-30 21:20:01 -04:00
205d4400eb
add baro_bias_estimate to RTPS list
2021-07-20 04:56:33 -07:00
8fbbf56c4d
microRTPS: fix setting UART communication flags
...
bitwise not should be used instead of logical not
2021-07-20 12:34:58 +02:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
e39e3b3418
events interface: chance uORB 'sequence' to 'event_sequence'
...
The reason is that sequence is an IDL reserved keyword, which results on failure when parsing with FastRTPSGen.
2021-07-09 13:24:13 +02:00
e3972d563a
cmake: ensure generated source files exist before extracting events
...
Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'. Stop.
2021-07-07 21:38:09 -04:00
38f3b8d356
mavlink & system: add events interface
...
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
2021-07-07 21:38:09 -04:00
Beat Küng
Matthias Grob
bresch
Julian Oes
Daniel Agar
JaeyoungLim
Silvan Fuhrer
mcsauder
Nicolas Martin
Igor Mišić
Hamish Willee
Claudio Micheli
Christian Llanes
TSC21
Dima Ponomarev
Oleg