9b3cb6c758
FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) ( #20330 )
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* 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
34b6786f79
actuator_controls.msg: fix NUM_ACTUATOR_CONTROLS (9)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-29 14:25:16 -04:00
64ae0049de
mission: add support for NAV_CMD_DO_SET_ACTUATOR
2022-09-29 14:23:16 -04:00
a27aeb30bf
mc_pos_control: fix trajectory setpoint copy
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- 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
20b46ad33f
ekf2_test: test validity of local position when not at rest
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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
1914053db2
ekf2: synchronize z_valid and v_z_valid
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mc_pos_control doesn't handle all the cases at the moment
2022-09-29 14:16:36 -04:00
f753b92cff
ekf2: start fake pos fusion after dead-reckoning timeout
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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
bb790c9bec
ekf2: add vertical dead-reckoning timeout check for height validity
2022-09-29 14:16:36 -04:00
da99387215
welford mean: protect against negative variances
2022-09-29 14:14:16 -04:00
d3849c0265
welford mean: convert to matrix only template
2022-09-29 14:14:16 -04:00
d4e5876d4c
vehicle_imu: only reset raw accel/gyro Welford mean periodically
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- 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
f9522e831c
Gazebo Simulation Enablement ( #20319 )
2022-09-29 13:49:31 -04:00
f89df9d986
VTOL: make const and return when either of mc or fw att sp isn't updated
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-29 16:01:43 +02:00
fdcbabeb9e
VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent
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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
9c5a423753
VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent
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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
dd2e6bd416
ROMFS: SITL configs: enable airmode by default for all VTOLs
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-29 16:01:43 +02:00
fbc7e6a435
ROMFS: tiltrotor sitl config: use tilt for yaw in hover as opposed to differential thrust
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-29 16:01:43 +02:00
97e3b76a2e
VTOL: improve readability of VT_FWD_THRUST_EN param
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-29 16:01:43 +02:00
20457c5e2e
position_setpoint: replaced loiter_direction integer by boolean ( #20317 )
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* 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
5d39fdba6d
fix: Add boundary protection for array access
2022-09-29 08:11:03 +02:00
2dcde93d96
fix: Fix misuse of atoi()
2022-09-29 08:11:03 +02:00
e2f3157ecb
fix: Add missing comma for const strings
2022-09-29 08:11:03 +02:00
99ef597719
Nuttx with backport of stm32h7:SDMMC fix unaligned access
2022-09-29 07:56:46 +02:00
59e86c490d
Remove include <log.h> from defines.h
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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
1f7080a710
ekf2: extend sensor bias stability requirement
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- 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
16f8adb4b3
hysteresis: avoid subtracting unsigned integers
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- avoid potential errors with timestamp passed in from different sources
2022-09-28 09:51:16 -04:00
06f2004580
Mag: fix estimated bias save to calibration
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Clear the calibration at the end only otherwise everything gets erased
at the end of the first iteration of the outer loop
2022-09-28 10:43:54 +02:00
70d73c8690
Advanced Plane Airframe for SITL Advanced Lift-Drag Plugin ( #20207 )
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* Changed sitl_gazebo to the advanced liftdrag plugin fork.
* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).
* Switched gazebo back to main branch, to avoid merge conflicts.
* Change simulator bridge back to what it was in main branch
* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)
* Changed SimulatorIgnitionBridge to match most recent main.
2022-09-27 23:09:27 +02:00
0ee4d89744
drivers/osd/msp_osd: fix uorb_to_msg isnan floating-point check ( #20309 )
2022-09-27 14:41:43 -04:00
a5bfc3fbc2
Added a self test feature to the VOXL 2 muorb module ( #20307 )
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* Removed exit after dsp signature generation.
* First full test suite
* Cleaned up the muorb tests
* Improved VOXL 2 self test trigger in startup file
* Removed unneeded include file
2022-09-26 16:25:24 -04:00
7bc79b491f
sensors/vehicle_magnetometer: more granular in flight mag cal reset on parameter changes
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- if mag calibration parameters change only reset any inflight mag cal
for the corresponding magnetometer
2022-09-26 12:42:32 -04:00
462d0af384
uORB: fix static orb_exists call for protected build
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- unify ORBSet to maximum code coverage
2022-09-26 12:38:58 -04:00
2717137982
RTL params: remove some unnecessary param constraints
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-26 13:32:35 +02:00
b0a7d206f3
RTL params: increase max of RTL_RETURN_ALT and improve description
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-09-26 13:32:35 +02:00
cfdaba35cc
Adds reset counter logic to EV height fusion
2022-09-26 11:48:18 +02:00
779e738143
MSP OSD Revision
2022-09-24 18:40:47 -04:00
770f8080c0
CRSF: Validate unknown packet sizes to be smaller than max packet size
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Co-authored-by: Chris Seto <chris1seto@gmail.com>
2022-09-24 16:36:17 -04:00
57bdac2b26
cmake: px4_parse_function_args re-enable failure on unparsed (invalid) arguments
2022-09-24 13:48:51 -04:00
ca0465aeca
Tools/generate_board_targets_json.py: properly exclude VOXL2 for now
2022-09-24 11:27:31 -04:00
e58275e6f5
platforms/posix: restore none SITL helper target for replay
2022-09-23 19:20:01 -04:00
77fdce9f3c
drivers/rc/crsf_rc: update standalone driver for CRSF and direct support for lq/rssi ( #20084 )
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Co-authored-by: Chris Seto <chris1seto@gmail.com>
2022-09-23 19:19:25 -04:00
86cddc6a52
fw_autotune_attitude_control : Add better support for RC TX control while in FW AT ( #20069 )
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Co-authored-by: Chris Seto <chris1seto@gmail.com>
2022-09-23 19:17:51 -04:00
b7fab39165
icm20948_i2c_passthrough: PX4_ERR is reset/configure fails and check temperature for validity
2022-09-23 19:16:10 -04:00
eb2a714aa5
ak09916: PX4_ERR if reset/configure is failing after 5s
2022-09-23 19:16:10 -04:00
16b4149492
Tools/generate_board_targets_json.py exclude VOXL2 for now (dev environment not yet available to github)
2022-09-23 16:40:56 -04:00
32277f6332
uavcan rgbled: Scale brightness for constant illumination
2022-09-23 14:33:20 -04:00
d30ccb2b1d
initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)
2022-09-23 12:03:05 -04:00
e6b292b693
Revert "boards: px4_fmu-v6x_default remove gyro_fft to save flash (will be restored later)"
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This reverts commit ed16354413
2022-09-23 09:32:43 -04:00
d749389f95
fmu-v6x:CUAV HW Version changes
2022-09-23 09:32:43 -04:00
cddade2047
ekf2: use validated airspeed from airspeed sensor only
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don't use synthetic measurements to prevent circular dependency
2022-09-23 09:26:47 -04:00
Silvan Fuhrer
Beat Küng
Daniel Agar
bresch
Thomas Stastny
Benjamin Perseghetti
Roman Bapst
Yang Hau
David Sidrane
Ville Juven
Karthik S
jmackay2
Eric Katzfey
Charles Cross
Daniel M. Sahu
chris1seto
Thomas Debrunner