d259386987
arch: python requirements fix, jdk comes with ant
2023-12-05 12:06:56 -05:00
14c4257a59
ActuatorEffectivenessRotors: Use modern parameter interface for rotor count
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This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.
2023-12-05 12:06:56 -05:00
b71c6fb6ea
arch: update to use pacman's arm-none-eabi
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which is currently GCC 12.2
2023-12-05 12:06:56 -05:00
adb22f1407
spi: put brackets such that GCC12 considers it a pointer for sure
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otherwise you get the warning/error px4_spi_buses can never be NULL
2023-12-05 12:06:56 -05:00
0c97b0f4b0
ubuntu: usermod -aG instead of -a -G
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It's well documented everywhere that this command does and
it's commonly used with exactly these two parameters together
and in that order.
2023-12-05 12:06:56 -05:00
5ca22df55c
ekf2-pos bias estimator: use enum
2023-12-05 11:22:59 -05:00
a3515a2474
ekf2: scope HeightSensor enum
2023-12-05 11:22:59 -05:00
6bd1145006
ekf2: scope RngCtrl enum
2023-12-05 11:22:59 -05:00
1df52df27d
ekf2: scope GnssCtrl enum
2023-12-05 11:22:59 -05:00
97423136d1
ekf2-AGP: scope control enum
2023-12-05 11:22:59 -05:00
c5101c70b3
uorb: enure message definitions don't exceed buffer lengths & increase test buffer
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There were already checks at runtime, but this ensures the format is not
too long at built-time.
2023-12-05 10:42:23 +01:00
df46ad7774
Dcm2: Use std::sin with overloaded types
2023-12-05 10:42:23 +01:00
d1b8a2e8d5
fxedwingPositionControl: Add slew rate at the end for all mode instead inside each
2023-12-05 10:42:23 +01:00
ae3aee3402
fw param: reduce default COM_VEL_FS_EVH to warn earlier when velocity uncertainty increases
2023-12-05 10:42:23 +01:00
1d07697a9e
NPFG: Add fallback for corner cases
2023-12-05 10:42:23 +01:00
1c25d65a1e
Add missing newline at the end of files
2023-12-01 13:11:00 -05:00
4c0b6dbe86
Remove trailing whitespaces and trailing duplicate newlines
2023-12-01 13:11:00 -05:00
d8d2213cab
mavlink streams: add SYSTEM_TIME to onboard low bandwidth
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It's required with 2Hz by some MAVLink enabled payloads.
2023-12-01 11:02:37 -05:00
9184a8f4ef
mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth
2023-12-01 11:02:37 -05:00
3ceb932b7c
mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth
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There are MAVLink enabled gimbals that directly consume RC channel data.
The gimbal controls stutter with this profile when the rate is too low.
2023-12-01 11:02:37 -05:00
938be68c69
mavlink streams: add gimbal orientation feedback to normal stream
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It only publishes when the information is available on uORB
and is useful for the groundstation to show the gimbal's status.
2023-12-01 11:02:37 -05:00
b0df7c7ccb
RTL/Land: set gimbal to neutral to reduce change of damage
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
789b3880cf
Mission: set gimbal to neutral on inactivation
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It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
0d8ba587ca
Mission: set gimbal to neutral before landing item
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To reduce risk of damage during landing.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
178ea132b6
Navigator: add set_gimbal_neutral() functionality
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To point the gimbal forward eg during landing to reduce chance of damage.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 13:19:09 +01:00
fe7988672f
ekf2: auxiliary position fusion
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Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-12-01 11:50:22 +01:00
aaefc36cad
airframes: remove 4900_crazyflie
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
6c9af2e0ec
airframes: remove 4040_reaper
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
6b4fca1b9d
px4vision configs: remove params that are just set again to default
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-01 09:43:41 +01:00
d85aaf4dfd
v5x/v6x: save flash by not compiling analog OSD by default
2023-11-30 17:16:02 +01:00
82c422b818
fmu-v5x: don't build roboclaw driver by default
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it's not used that often and for rovers only.
2023-11-30 17:16:02 +01:00
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
d014d76ca7
HeadingSmoothing: set correct maximum heading
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The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
2023-11-30 17:16:02 +01:00
5a2efc1cb2
GotoControl: remove dependency on PositionControl
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It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
2023-11-30 17:16:02 +01:00
c853acc2ff
GotoControl: also provide maximum velocity to position smoother
2023-11-30 17:16:02 +01:00
d1e8bdbd16
GotoControl: rename yaw rate acceleration parameter
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such that not only one letter differs to MPC_YAWRAUTO_MAX
2023-11-30 17:16:02 +01:00
dc7f9165d1
logged_topics: fix goto_setpoint name
2023-11-30 17:16:02 +01:00
3de6fee07f
GotoControl: make interface over uORB
2023-11-30 17:16:02 +01:00
96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
14b8afe972
PositionSmoothingTest: remove duplicate vector comparison
2023-11-30 17:16:02 +01:00
591845bb41
HeadingSmoothing: rename, simplify, add cpp
2023-11-30 17:16:02 +01:00
be05b3e8d7
helper_functions: include defines for M_PI_PRECISE
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The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
2023-11-30 17:16:02 +01:00
efb325d25d
motion_planning: remove deprecated separate test
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It's functionality probably broke already in
befbb6b106c4c04933222ecb205f001fd77fa85f
and the tests are now covered by
VelocitySmoothingTest.cpp
2023-11-30 17:16:02 +01:00
53076b9863
PositionSmoothing: guard division by zero
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Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
2023-11-30 17:16:02 +01:00
11cca72ef1
VelocitySmoothing: fix division by zero cases
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Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
2023-11-30 17:16:02 +01:00
6f295d91d1
Revert "motion_planning: sanitize inputs to position and velocity smoothing libs"
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This reverts commit 2951c846ee07e52c2e3d97ea4629185016f3a011.
2023-11-30 17:16:02 +01:00
14785eeb47
GotoSetpoint message: reorder flag directly before value
2023-11-30 17:16:02 +01:00
4b920a6628
GotoControl: add go-to control interface to mc position controller
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goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
Matthias Grob
bresch
Beat Küng
Konrad
Silvan Fuhrer
Thomas Stastny