Commit Graph

1534 Commits

Author SHA1 Message Date
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-20 13:16:24 -05:00
Konrad 68100650da RTL: publish a status message on currently chosen RTL point 2024-02-16 10:27:22 +01:00
Matthias Grob 396ef222ee DifferentialDrive: Rework structure
3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
2024-02-12 14:29:10 +01:00
Matthias Grob fc90e235f1 Rename differential drive setpoint topics 2024-02-12 14:29:10 +01:00
PerFrivik e457a5baed Differential Drive Guidance: Add guidance
also add dependency on control allocation parameter CA_R_REV

Differential Drive Guidance: Added mission logic

Differential Drive Guidance

Differential Drive Guidance

Differential Guidance: Inlcude library

Differential Guidance: Compiles, does not work though

Differential Guidance: Works somewhat

Differential Guidance: Temp

Differential Guidance: Tuning

Differeital Drive Guidance: Remove waypoint mover

Differential Guidance: Fixed accuracy issue by converting from float to double

Differential Guidance: rebased on differentialdrive and improved waypoint accuracy

Temp

Differential Guidance: cleanup

temp
2024-02-12 14:29:10 +01:00
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
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 dfa56d474a mission: renaming dataman_id to mission_dataman_id 2024-01-30 11:25:37 -05:00
Mathieu Bresciani cb396a6339
ekf2: fix computation of tilt and yaw variances add them to logging
Co-authored-by: bresch <bresch@users.noreply.github.com>
2024-01-24 12:14:15 -05:00
Henry Kotzé 736a730bb1
src/drivers: new FT7 series wind/airflow sensor support (#22471)
- new uorb topic sensor_airflow
 - log sensor_airflow optionally
2024-01-22 14:42:38 -05:00
alexklimaj 3ff1f213a4 uavcan: add RelPosHeading->sensor_gnss_relative 2024-01-22 12:30:24 -05:00
Eric Katzfey 2b69a3d290
VOXL2 specific drivers, modules, and miscellaneous support files (#22588) 2024-01-18 12:14:17 -05:00
Roman Bapst 603c3f6636
added support to reset vehicle position based on external position (#22444)
via command MAV_CMD_EXTERNAL_POSITION_ESTIMATE

Signed-off-by: RomanBapst <bapstroman@gmail.com>
2024-01-11 13:09:22 +01:00
Federico Ciresola 20129e63fa
ModeCompleted.msg: document nav_state (#22544) 2024-01-08 11:32:41 +01:00
Silvan Fuhrer 7e22b47b85
Navigator/FlightTaskAuto yaw handling improvements/simplifications (#22532)
* PositionSetpoint: remove yaw_valid field

* Navigator: set yaw setpoint to NAN for Takeoff

Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset.
The yaw setpoint generation is handled by FlightTaskAuto.

* PositionSetpoint.msg: remove disable_weather_vane and instead only use the yaw field

Strictly follow the concept that if the position_setpoint.yaw is set, then
follow it the controller, and otherwise let the controller set it as it
thinks it's best.

* Navigator: remove logic that sets yaw to be accepted in TAKEOFF

No longer needed as during Takeoff we anyway don't set a yaw setpoint.

* PositionSetpoint.msg: remove yawspeed_valid

* PositionSetpoint.msg: remove yawspeed

* Navigator: set yaw setpoint to NAN instead of current

In set_takeoff and set_land_item, as well as for VTOL transition.
The flight tasks then set the yaw corresponding to the current yaw.

* Navigator: change get_yaw_acceptance into a bool

* PositionSetpoint.msg: improve comment for yaw

* MissionBlock: remove unnecessary code from set_vtol_transition_item

* Navigator: clean up calculate_breaking_stop(), set yaw to NAN

* Navigator: set yaw to NAN in variouls places where not specifc setpoint is desired

* Navigator: set yaw to NAN in reset_position_setpoint()

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
2023-12-21 16:50:13 +01:00
PerFrivik 3df71d1837 Differential Rover: Differential drive module & library 2023-12-21 16:27:53 +01:00
Matthias Grob ca6db94e39 Velocity limit: remove duplicate message and if(true) 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
Konrad 1d07697a9e NPFG: Add fallback for corner cases 2023-12-05 10:42:23 +01:00
Matthias Grob 4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
bresch fe7988672f ekf2: auxiliary position fusion
Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-12-01 11:50:22 +01:00
Matthias Grob 14785eeb47 GotoSetpoint message: reorder flag directly before value 2023-11-30 17:16:02 +01:00
Thomas Stastny e47aba8bc9 msg: add go-to setpoint interface 2023-11-30 17:16:02 +01:00
Beat Küng f69636feef fix msg: add_custom_command needs to depend on files instead of custom_command target name
This fixes incremental builds when msg files change.

Introduced with https://github.com/PX4/PX4-Autopilot/pull/21995.
2023-11-30 10:36:39 -05:00
Konrad 36f0c0f0bf mavlink-mission: Add support for opaque ids and replace update counter with it 2023-11-29 11:10:40 -05:00
PerFrivik 09d30568ab Roboclaw: Consistent Left & Right naming convertion with Differential Drive class 2023-11-28 16:30:17 +01:00
Matthias Grob f53edfa440 Roboclaw: major cleanup 2023-11-28 16:30:17 +01:00
Matthias Grob 8f4ce28e84 RoboClaw: declutter, make it compile again 2023-11-28 16:30:17 +01:00
Per Frivik e9810e7be6 Update WheelEncoders.msg 2023-11-28 16:30:17 +01:00
Per Frivik dd9c1c02d1 Delete msg/ActuatorControls.msg 2023-11-28 16:30:17 +01:00
Per Frivik a6b2bcd166 Update msg/CMakeLists.txt
Remove ActuatorControls.msg

Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-11-28 16:30:17 +01:00
PerFrivik 549c6b565c ported roboclaw driver from older commits into newest develop branch 2023-11-28 16:30:17 +01:00
Konrad 6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad 5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Matthias Grob 8271faedeb control_mode: reorder modes according to controller cascade 2023-11-23 20:35:48 +01:00
Silvan Fuhrer 8a899170bf VehicleLocalPosition.msg: add comments for heading reset fields
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-23 13:54:07 +01:00
Silvan Fuhrer 7833d2a879 VehicleLocalPosition.msg: add comments for reset fields
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-23 13:54:07 +01:00
Beniamino Pozzan 1c8f31f339 [offboard] add thrust and torque control mode
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
2023-11-22 22:14:50 -05:00
Silvan Fuhrer 2865bbb8ab Geofence: rework messaging and notification
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
Silvan Fuhrer a41f24a2e2 geofence_result.msg: rename premove unused field home_required
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-22 21:45:02 -05:00
bresch 1c3a1183c8 ekf2-flow: refactor control logic
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
2023-11-21 21:56:34 -05:00
Roman Bapst dd2322d622
Added PerformanceModel for fixed wing (#22091)
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
2023-11-21 17:13:50 +01:00
Beat Küng 22acb08406 uorb: add message format compatibility check
This can be used by DDS/ROS 2 to check for matching message definitions.
2023-11-15 13:18:58 +01:00
Beat Küng bb900264e0 commander+mavlink: implement MAVLink standard modes 2023-11-15 13:18:58 +01:00
Beat Küng b46e1d744b commander: add config overrides 2023-11-15 13:18:58 +01:00
Beat Küng 889b6a1a78 commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-11-15 13:18:58 +01:00
Beat Küng fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00