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43456 Commits

Author SHA1 Message Date
Konrad bec3bedaae TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation 2024-02-13 14:57:08 +01:00
Konrad 80677cfdfd TECS: increase airspeed control limit for fast descend 2024-02-13 14:52:43 +01:00
Konrad 8ec0187384 FWPosCtrl: Make fast_descend fade out 2024-02-13 09:39:36 +01:00
Konrad 5321da1a3b TECS: enable specific energy weights to have a value up to 2 2024-02-13 08:49:39 +01:00
Konrad 357842b8b9 TECS: fast descend cleanup 2024-02-11 16:05:39 +01:00
Konrad 042257c33f TECS: fast descend only available if airspeed is available. 2024-02-11 16:05:39 +01:00
Konrad 29145ed941 TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle. 2024-02-11 16:05:37 +01:00
PX4 BuildBot 0f3925b21d update all px4board kconfig 2024-02-09 10:48:26 -05:00
muramura f636414ca7 tuning_tools: Change 1G to a more accurate value 2024-02-09 10:26:57 -05:00
muramura 00a9e4c76b Auto: Change 1G to a more accurate value 2024-02-09 10:26:57 -05:00
Alex Klimaj 31bbda0b58
boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps) 
* update gps submodule with sbf fix
* ARK Septentrio GPS initial commit
 2024-02-09 10:26:09 -05:00
Matthias Grob b355c16141 Lanbao driver: correct rangefinder type to IR 2024-02-09 06:19:12 +01:00
Matthias Grob 7fdb5ef3cb PWMOut/px4io: correct automatic servo/motor configuration messages 2024-02-09 06:19:12 +01:00
fury1895 3de7d83e5f v6x board_sensors: publish system_power if ADC_ADS1115_EN is enabled 2024-02-08 16:11:34 +01:00
Matthias Grob 97cb933cff FLightTaskAuto: limit nudging speed based on distance sensor 2024-02-07 11:23:55 +01:00
Silvan Fuhrer 584d8abe1e params: change return type of param_modify_on_import to enum 
Return early in param_import_callback() with 1 if we do a param_set in the param translation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-07 08:08:37 +01:00
Silvan Fuhrer 982c998ab9 mc_attitude_control: move attitude setpoint pulling to right before usage 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-06 17:54:22 -05:00
Silvan Fuhrer e5cfbbb1ee mc_att_control: remove direct setting of att sp in Stabilized 
Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-06 17:54:22 -05:00
KonradRudin 3576d513cd
battery: make time remaining estimation dependent on level flight cha… (#22401) 
* battery: make time remaining estimation dependent on level flight characteristis for FW

* battery: fix that FW flight is also correctly detected when vehicle_status is not updated

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FixedwingPositionControl: Move constant to header file

* flight phase estimation: use tecs height rate reference to check for level flight

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-06 17:32:09 +01:00
Andrew Brahim bf52d8adc9
drivers/uavcannode: add indicated airspeed 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-02-06 11:01:15 -05:00
Alessandro Simovic a6fcb8ef1e bat_sim: parameter for disabling battery simulator 2024-02-06 10:21:21 -05:00
PerFrivik 1917c138f7 Bugfix removed conversion from rpm to rad s 2024-02-06 13:25:25 +01:00
bresch 17d55dddd6 ekf2-drag: do not generate Kalman gain to save flash 2024-02-06 12:16:33 +01:00
bresch 1efb08375a ekf2: let drag fusion affect the complete state vector 
This improves tilt estimation and can extend the inertial dead-reckoning
validity period
 2024-02-06 12:16:33 +01:00
Peter van der Perk 8dae9905aa fmu-v6xrt: hotfix for sdio crash when reading multiblock to unaligned memory 2024-02-05 11:17:33 -05:00
Beat Küng c78389a855 commander: send ack for VEHICLE_CMD_DO_SET_ACTUATOR 2024-02-02 09:38:28 -05:00
Beat Küng 8b422c5ed6 fix FunctionActuatorSet: if a param is set to NaN, it should be ignored 
MAVLink spec: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR
Previously, a command was overwriting all other indexes.
 2024-02-02 09:38:28 -05:00
cuav-liu1 75d6e523b5 ICP201: Fix B2 version not return in bootup config 2024-02-02 09:37:18 -05:00
Vincent Poon 6dbb798e37 Change FMU-v6x REV 6 IMU Order 
Change IMU Order, make adis16470 in 1st priority.
 2024-02-02 05:49:21 -05:00
David Sidrane c07edd1d9a px4_fmu-v6x:Add Sensor set 8 2024-02-01 21:11:32 -05:00
Julian Oes 2cfdea2edb fmu-6x: fix Telem2 without flow control 
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-02-02 06:52:17 +13:00
Niklas Hauser 103ddb5b3d cpuload: Fix wrong idle thread load 
When the CPU load monitor is started while already running, then the
idle thread last_times[0] is reset to the last 1 second, rather than
since when the CPU load monitor was last started. The remaining threads
are not impacted, since their last_times[i] is reset to zero here.

This results in the idle thread having a lower than real CPU load, with
the remaining CPU time being wrongly attributed as scheduler load.
 2024-01-31 07:52:59 +01:00
David Sidrane 76a2acb222 stm32h7:adc Dynamically set clock prescaler & BOOST 
The ADC peripheral can only support up to
   50MHz on rev V silicon and 36MHz on Y silicon.
   The existing driver always used no prescaler
   and kept boost setting at 0.
 2024-01-30 18:07:57 -05:00
David Sidrane 543454f12e stm32h7:ADC STM32_RCC_D3CCIPR_ADCSEL->STM32_RCC_D3CCIPR_ADCSRC 2024-01-30 18:07:57 -05:00
David Sidrane 85bfba4497 NuttX with h7 adc clock Backports 2024-01-30 18:07:57 -05:00
Matthias Grob 3e183feb49 matrix: Slice templated on const and non-const matrix cases 
to avoid casting const to non-const with
`const_cast<Matrix<Type, M, N>*>(data)`
 2024-01-30 11:46:33 -05:00
Matthias Grob 88102d82db matrix: return value simplifications 2024-01-30 11:46:33 -05:00
Matthias Grob 44a8c553fb AxisAngle use Vector3<T> instead of Vector<T, 3> 2024-01-30 11:46:33 -05:00
Matthias Grob ea4fdfd637 matrix: fix internal include chain 2024-01-30 11:46:33 -05:00
muramura c5757e0799 gimbal: Change the IF statement to a SWITCH statement 2024-01-30 11:28:20 -05:00
Roman Bapst 380841563f
ina238: set shunt calibration to desired value if readback is incorrect (#22237) 
* refactor driver to dynamically check registers and do reset if register does not match desired value
* have seen various times where shunt calibration was reset in air

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-01-30 11:28:05 -05:00
Konrad 169d2dd286 mission_base: fix validity on abort landing 2024-01-30 11:25:37 -05:00
Konrad 0a153efb9d mission_base: make sure to always update state on mission topic update 2024-01-30 11:25:37 -05:00
Konrad 97ce599b1f mavlink_mission: publish mission topic at startup 2024-01-30 11:25:37 -05:00
Konrad 9fd137e88e mavlink_mission: add alternating storage for geofence and safe points on upload 
This way the old points are kept on an upload error.
 2024-01-30 11:25:37 -05:00
Konrad 50f1abaef1 dataman: extend for double storage geofence and safe points 2024-01-30 11:25:37 -05:00
Konrad dfa56d474a mission: renaming dataman_id to mission_dataman_id 2024-01-30 11:25:37 -05:00
Konrad cac858cb24 dataman: use correct size for dataman compat key 2024-01-30 11:25:37 -05:00
bresch 9c02e384e6 ekf2-agp: follow measurement reset 2024-01-30 11:23:55 -05:00
bresch 5d9081b0dd ekf2-agp: ensure logging of AGP aid_src topic 2024-01-30 11:23:55 -05:00