Commit Graph

43618 Commits

Author SHA1 Message Date
Thomas Frans bcbae86b9f code: add more style options in `.editorconfig` 2024-03-25 09:48:09 -04:00
Eric Katzfey 4a553938fb
VOXL2: HRT updates for synchronization with Qurt time (#22881)
- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative
2024-03-22 15:24:51 -04:00
Daniel Agar c024ea396a boards/px4/fmu-v5x: remove legacy rover_pos_control to reduce flash usage 2024-03-22 15:17:03 -04:00
Eric Katzfey 69028f37a9
New platform independent Serial interface (#21723) 2024-03-21 21:00:23 -04:00
Thomas Frans bb9f4d42f3 gps: fix incorrect task id in module startup 2024-03-21 20:58:59 -04:00
Beat Küng 2e12e14a23 boards/px4/fmu-v5x: remove sd_stress & reflect to reduce flash usage 2024-03-21 20:58:21 -04:00
Thomas Frans d0251b8688
add `.editorconfig` for consistent code style across editors (#22916)
EditorConfig is a well-known convention to share style settings across
different editors. Adding one will make it easier for new contributors
or people who like to use a different editor to contribute.
2024-03-21 20:56:20 -04:00
Eric Katzfey 82a1aa37db
uORB: fix for uORB communicator, only send most recent data for new subscription (#22893) 2024-03-21 20:54:43 -04:00
Eric Katzfey 5f6dc1c5d0
uORB: SubscriptionBlocking purged the broken attempt to set the mutex protocol in constructor 2024-03-21 20:53:34 -04:00
Øyvind Taksdal Stubhaug 710286da72
uavcan: publish new can interface status as uorb topic (#22873) 2024-03-20 12:38:47 -04:00
Daniel Agar 34c19b2e5a
boards/px4/fmu-v5x: default remove systemcmds/sd_stress to save flash 2024-03-20 12:35:34 -04:00
alexklimaj af16544809 boards: ark septentrio update flash size and enable ekf2 2024-03-20 11:17:05 -04:00
Daniel Agar 35532609c9
mathlib: utilities refactor float to function template (for optional double precision usage)
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2024-03-20 11:10:37 -04:00
bresch 62b8db153b mpc: fix PositionControl unit test
The unit test assumes the position controller is in "decoupled" mode
2024-03-20 14:16:12 +01:00
bresch 638e17d551 ekf: update change indicator 2024-03-20 14:13:49 +01:00
bresch 6d819343aa ekf2: fix direct state measurement update for suboptimal K case
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
2024-03-20 14:13:49 +01:00
bresch cb2bb2e098 ekf2: add no gyro bias estimate test case
This makes the ekf unstable and creates NANs during initialization
2024-03-20 14:13:49 +01:00
bresch c9221b91ad ekf2: fix gnss yaw unit test 2024-03-20 14:04:19 +01:00
Drone-Lab 37caddedbb
navigator: update mission after changing home position (#22834) 2024-03-20 08:37:19 +01:00
muramura 63850873eb sd_bench: Display maximum time for maximum write time 2024-03-20 08:35:33 +01:00
Hamish Willee 95627ea098
SMART_BATTERY_INFO to BATTERY_INFO (#22875)
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024

    - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): c4a5c49737
    - mavlink current upstream: a3558d6b33
    - Changes: c4a5c49737...a3558d6b33

    a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090)
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919)
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082)
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089)
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079)
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085)
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY -  (#2086)
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081)
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078)
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070)
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067)
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074)

* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module

* Update src/modules/mavlink/streams/BATTERY_INFO.hpp

* fix trivial whitespace

---------

Co-authored-by: PX4 BuildBot <bot@px4.io>
Co-authored-by: Daniel Agar <daniel@agar.ca>
2024-03-20 11:33:37 +13:00
bresch 2e6dd243af mpc: add possibility to generate tilt using full 3D accel
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
2024-03-19 12:29:34 -04:00
muramura 32aa3263a6 EKF: Change a typo 2024-03-18 10:29:44 +01:00
Beat Küng 70346a5b2f failsafe: set cause to generic when fallback mode is activated
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
2024-03-15 14:06:58 +01:00
Silvan Fuhrer da39d075ac Commander enums: shorten failsafe event messages
Such that the focus is on the important keywords.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer f6430a27d6 Commander enums: capitalize battery level key words
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer 4ae2fbd171 Commander enums: capitalize flight mode names
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 10:25:18 +01:00
Silvan Fuhrer 6e15dd5328 Commander: trigger warning when arming denied due to check failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:34:11 +01:00
Silvan Fuhrer d330d47495 EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid
Helps to reduce spamming of less important warnings.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:56 +01:00
Silvan Fuhrer 6d8273483c Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-15 09:33:41 +01:00
bresch 7c6ecd95a8 mc_wind_estimator_tuning: optionally use GNSS velocity
Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
bresch b2f1122372 ekf2: remove old yaw 321 and 312 derivations 2024-03-14 11:33:45 -04:00
bresch ee63f3e664 update change indicator 2024-03-14 11:33:45 -04:00
bresch e3f67d5c1a ekf2: new yaw derivation
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
2024-03-14 11:33:45 -04:00
Silvan Fuhrer 6373d8d243
commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first (#22887)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 16:30:06 +01:00
Silvan Fuhrer 68fcfc43ef
mro-zero classic: remove gyro fft module to save flash (#22878)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-14 14:20:51 +01:00
Eric Katzfey ae947513d7
add load_mon support for Qurt platform (#22883)
- Added check in commander to see if CPU load monitoring has been disabled before signalling overload
2024-03-13 21:33:58 -04:00
Alexander Lampalzer ad50afda10
update msg_files to PARENT_SCOPE (#22800) 2024-03-13 09:34:47 +01:00
Niklas Hauser 23c5c0b12d dataman: Add client sync perf counter and increase default timeout to 5s 2024-03-13 09:22:38 +01:00
Daniel Agar a1cce7e961 uxrce_dds_client: optimizations and instrumentation
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
2024-03-12 16:22:26 -04:00
Daniel Agar b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
2024-03-12 16:22:26 -04:00
Silvan Fuhrer 9f4ae0a85d
vtol: only publish generic warning through mavlink to safe flash (#22870)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 13:27:13 +01:00
Silvan Fuhrer 00cc68baa1
Commander: make low remaining flight time configurable and fix clearing condition (#22863)
* Commander: make low remaining flight time configurable and do not clear

- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low

* battery check: add hysteresis for declaring battery_low_remaining_time false again


---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
2024-03-12 12:56:01 +01:00
Silvan Fuhrer 7fe5ee64fe rtl_direct: fix on_inactive()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:27:49 +01:00
Silvan Fuhrer 7f370ac6df Tiltrotor: disable MC yaw fade out during front transition blending
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-12 11:26:07 +01:00
Thomas Stauber 1ad83a8002
mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame (#22866) 2024-03-11 19:49:11 -04:00
Eric Katzfey 18d53c3bfd
boards/modalai/voxl2: Add new capabilities to Qurt platform HITL driver
* Added new sensor control options and test capability in dsp_hitl
* HITL working in VIO mode only
* Fixed units on GPS HIL input
2024-03-11 19:47:15 -04:00
Eric Katzfey f4ebfa6130
parameters: support for an optional remote parameter database (#22836)
The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote.
2024-03-11 13:52:22 -04:00
Konrad c5fde63440 mission: The mission check on activation should only be performed for a mission, not RTL.
We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.
2024-03-11 17:08:56 +01:00
Silvan Fuhrer cb8520427c rtl direct: fix setting of previous altitude (abs vs rel)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-03-11 14:04:02 +01:00