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43256 Commits

Author SHA1 Message Date
Daniel Agar b418980491 [WIP] ekf2: innovation sequence monitoring and estimator aid src status consistency 2023-12-14 15:55:59 -05:00
oystub 24cee81279 gps_blending: output valid time_utc_usec 
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec

With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.

It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
 2023-12-13 11:14:00 -05:00
Niklas Hauser c769fc7785 SF1xx: optionally disable sensor in forward flight 2023-12-13 09:02:26 +01:00
marcojob cf62dad28d
sensors/VehicleAngularVelocity: fix force SensorSelectionUpdate 
- This fixes the force call on SensorSelectionUpdate
 - In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
 2023-12-12 20:56:59 -05:00
Kjersti Brynestad 91e3ec5884 mavlink: Handle NAMED_VALUE_INT 2023-12-12 20:50:46 -05:00
GuillaumeLaine 942b6700a1 dds_topics: export estimator_status_flags 2023-12-12 14:43:07 -05:00
Matthias Grob 75bb25a44c test_vtol_figure_eight: fix altitude check 
wait_until_altitude() checks for absolute altitude being
close so checking for 1m below the setpoint can fail
if the speedup results in no sample inside the altitude
window being checked.

Ideally the test could check if the takeoff is done directly
instead of comparing altitudes in the first place.
 2023-12-12 20:22:23 +01:00
Silvan Fuhrer 91ab09ebd5 TECS: in _calcPitchControlOutput guard against invalid airspeed inputs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer 9db86f7f0a TECS: fix airspeed filter init in airspeed-less mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer 60e2c6a5cb TECS: improve initialization 
-remove external init, and instead always (but only) init when dt is too large
-init the controller params correctly

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer 1f5fc3e849 TECS: init control params to reasonable values 
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer 7926107328 TECS: make sure to constrain pitch to current min/max pitch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Silvan Fuhrer cc743048ba TECS: set _ratio_underspeed to 0 if airspeed disabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-12 15:16:38 +01:00
Matthias Grob ece60b6165 msp_osd: reuse existing mode name conversion 
This saves a bit of flash, keeps the mode names up to date and
works like expected.
 2023-12-11 17:29:45 +01:00
Silvan Fuhrer 8aab3e8013
Navigator: same logic for VTOL_TAKEOFF as for TAKEOFF (#22518) 
Set the setpoint type to POSITION if already in air, not to TAKEOFF.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-11 14:18:22 +01:00
Matthias Grob ebae9ae3d7 FlightTaskManualAccelerationSlow: MC_ prefix for parameter names 
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
 2023-12-08 21:17:59 +01:00
Matthias Grob d03030e881 mavlink_receiver: ifdef guard for velocity limits 
Since this message is defined in development.xml and
not yet common.xml and some targets use
common.xml and the builds then failed.
 2023-12-08 21:17:59 +01:00
Matthias Grob ca6db94e39 Velocity limit: remove duplicate message and if(true) 2023-12-08 21:17:59 +01:00
Matthias Grob da24811ce1 SickAccelerationXY: fix comment typo brak{e}ing 2023-12-08 21:17:59 +01:00
Marcin 4cf43a68a3 FlightTask: add subscription to VELOCITY_LIMITS msg 2023-12-08 21:17:59 +01:00
Matthias Grob 54ce9813c8 FlightModeManager: Add task for position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob ef0926d64b Commander: add position slow mode 2023-12-08 21:17:59 +01:00
Matthias Grob dbbf585adb StickYaw: yaw rate limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob 84220407ea FlightTaskManualAltitude: vertical velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob bb617f6c4d FlightTaskManualAcceleration: horizontal velocity limit interface 2023-12-08 21:17:59 +01:00
Matthias Grob 77c06a9f9e Sticks: Provide auxiliary analog values from manual_control_setpoint 2023-12-08 21:17:59 +01:00
Matthias Grob df41bc3d26 StickAccelerationXY: make sure speeds below 1m/s are exactly reached 
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
 2023-12-08 21:17:59 +01:00
Daniel Agar f703f07399
drivers/distance_sensor: update kconfig common sensors 
- mappydot is EOL
 - LL40LS_PWM is a fairly special case that's not common
 2023-12-08 13:32:23 -05:00
Matthias Grob e35380d6ae mixer_module_tests: cover `output_limit_calc_single()` 2023-12-07 21:35:55 -05:00
Matthias Grob 0a78690356 mixer_module: correct output_limit_calc_single calculation 2023-12-07 21:35:55 -05:00
PX4 BuildBot fb3123e33b Update world_magnetic_model to latest Thu Dec 7 11:14:08 UTC 2023 2023-12-07 21:34:18 -05:00
David Sidrane 936c18733b NuttX with NXP Backports 2023-12-07 21:13:40 -05:00
PX4 BuildBot db1bb94ea4 Update submodule mavlink to latest Thu Dec 7 12:39:06 UTC 2023 
- mavlink in PX4/Firmware (67cf6bd264055a5d13d5521c6c43bd5b42f374ca): 6cf005e996
    - mavlink current upstream: 5f85bd7d7d
    - Changes: 6cf005e996...5f85bd7d7d

    5f85bd7d 2023-12-07 Hamish Willee - MAV_CMD_DO_SET_HOME - add home position roll/pitch (#1849)
55ba3887 2023-12-06 Hamish Willee - Fixed deprecation typo for MAV_CMD_SET_MESSAGE_INTERVAL (#2060)
 2023-12-07 17:56:13 -05:00
PX4 BuildBot 3d1ce20c12 boards: update all NuttX defconfigs 2023-12-07 17:55:38 -05:00
Silvan Fuhrer c61ac784b6 FW attitude controller: remove deprecated ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer b1317daa9c wheel controller remove from ecl 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer 00f5bba5e0 FW att controller: wheel controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer 448292c980 FW att controller: yaw controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer d4206195c6 FW att controller: pitch controller: separate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer 7e467f7121 FW att controller: roll controller: seperate from ecl_controller 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
Silvan Fuhrer 48782723ab FW att controller: ecl_controller: move setter/getter implementation to header 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-07 17:21:09 +01:00
David Sidrane 2af21ee0b6 NuttX with No TXDMA semaphore in serial backports 2023-12-06 11:46:47 -05:00
Matthias Grob d259386987 arch: python requirements fix, jdk comes with ant 2023-12-05 12:06:56 -05:00
Matthias Grob 14c4257a59 ActuatorEffectivenessRotors: Use modern parameter interface for rotor count 
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
Matthias Grob b71c6fb6ea arch: update to use pacman's arm-none-eabi 
which is currently GCC 12.2
 2023-12-05 12:06:56 -05:00
Matthias Grob adb22f1407 spi: put brackets such that GCC12 considers it a pointer for sure 
otherwise you get the warning/error px4_spi_buses can never be NULL
 2023-12-05 12:06:56 -05:00
Matthias Grob 0c97b0f4b0 ubuntu: usermod -aG instead of -a -G 
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
bresch 5ca22df55c ekf2-pos bias estimator: use enum 2023-12-05 11:22:59 -05:00
bresch a3515a2474 ekf2: scope HeightSensor enum 2023-12-05 11:22:59 -05:00
bresch 6bd1145006 ekf2: scope RngCtrl enum 2023-12-05 11:22:59 -05:00