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42584 Commits

Author SHA1 Message Date
Daniel Agar 6535cc758e ekf2: fuse mag update last heading fuse time if updating all states 
- handle synthetic z special case
 2023-05-26 08:48:08 -06:00
Silvan Fuhrer bd182ecf70
FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back (#21635) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:12:42 +02:00
Silvan Fuhrer ad769db8d6
FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 
* RateControl: rename setGains to setPidGains to be more precise

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

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

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

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-26 15:09:29 +02:00
Alex Klimaj ee96d209d7
drivers/uavcannode: add GNSS Auxiliary publisher 2023-05-24 21:27:50 -04:00
Junwoo Hwang 822d784335
Create stale bot (Github actions) (#21630) 2023-05-24 10:13:40 +09:00
Loïc Dubois 1b9d90e7c4
mavlink: fix mismatch between header macros and class used 2023-05-23 20:44:32 -04:00
alexklimaj dc99a875c3 Mavlink receiver unadvertise all 
uorb multi pubs in destructor
 2023-05-23 18:40:06 -06:00
Matthias Grob c903288f4c ManualControlSelectorTest: adapt to using input validity flag 2023-05-23 17:24:17 +02:00
Matthias Grob 7b6f45079b ManualControl: use input validity flag to check for RC calibration 2023-05-23 17:24:17 +02:00
Matthias Grob 7d0596d244 RCInput: follow topic name convention 2023-05-23 17:24:17 +02:00
Patrick José Pereira 8feb662557 systemcmds: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 09f282b282 temperature_compensation: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 5fff0526cf rc_update: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 837847f3ad mavlink: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira cee21bd703 sensor_calibration: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira 643d89f54b uORB: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Patrick José Pereira dc2428a348 px4_log: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now 
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
 2023-05-19 18:35:57 -06:00
PX4 BuildBot 74105907c9 Update submodule mavlink to latest Fri May 19 12:38:47 UTC 2023 
- mavlink in PX4/Firmware (0ff9816579d1c5a4086ec7b9d05fe7a79c410df2): 3ee5382d0c
    - mavlink current upstream: 18955a04c7
    - Changes: 3ee5382d0c...18955a04c7

    18955a04 2023-05-11 Nick Exton - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT (#1982)
b92321ba 2023-03-30 Hamish Willee - Update message_definitions/v1.0/common.xml
58ff70f4 2023-03-30 Hamish Willee - COMMAND_ACK progress/result_param2 clarification
31b4aebb 2023-05-11 Julian Oes - cmake: locally install pip dependencies (#1984)
e9bf6a61 2023-05-10 Hamish Willee - Gimbal manager messages - remove WIP tagging (#1980)
0416967f 2023-05-10 Beat Küng - development: changes to standard flight modes (#1915)
ce00667f 2023-05-04 Jonas Vautherin - New cmakelists (#1977)
fdef5cc0 2023-05-03 Nick Exton - common.xml: Prefer COMMAND_INT when command includes altitude field (#1983)
89676d1d 2023-05-03 Nick Exton - common.xml: Add ZOOM_TYPE_HORIZONTAL_FOV to CAMERA_ZOOM_TYPE enum (#1979)
 2023-05-19 08:41:38 -06:00
PX4 BuildBot 6c9dcd535c Update submodule devices to latest Fri May 19 12:38:42 UTC 2023 
- devices in PX4/Firmware (6a645f244654695f3b178b576f7f8972f87ad774): 7d19f689f0
    - devices current upstream: 99f5960eca
    - Changes: 7d19f689f0...99f5960eca

    99f5960 2023-05-02 Eric Katzfey - sbf: fixed compile errors for Qurt platform (#129)
 2023-05-19 08:41:21 -06:00
PX4 BuildBot 8ae7720569 Update submodule sitl_gazebo-classic to latest Fri May 19 12:38:32 UTC 2023 
- sitl_gazebo-classic in PX4/Firmware (599a66c8a5): 3f2b9678af
    - sitl_gazebo-classic current upstream: 2e3ed9bfb0
    - Changes: 3f2b9678af...2e3ed9bfb0

    2e3ed9b 2023-05-14 JaeyoungLim - Add Quadtailsitter model based on the swan K1 (#982)
670d4d2 2023-05-12 Julian Oes - airspeed: rotate tube so it faces forward (#981)
803254d 2023-05-11 Julian Oes - tailsitter: add valid inertia, fix CG (#980)
6fd1d17 2023-05-09 JaeyoungLim - Fix advanced plane model (#979)
506f10c 2023-05-05 Julian Oes - iris: move IMU and GPS where they are (#978)
 2023-05-19 08:41:03 -06:00
Peter van der Perk 9a17fddc31 Hardfault_log progmem always clear when re-arming 2023-05-19 08:40:07 -06:00
Daniel Agar bcf87b4b35
Tools/HIL/test_airframes.sh remove gps stop (not present everywhere) 2023-05-19 10:35:26 -04:00
Silvan Fuhrer 599a66c8a5 Tailsitter: make pitch angle thresholds for transition in Stabilized depending on max manual pitch 
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-16 10:12:24 +02:00
Silvan Fuhrer 1ddacec36b FW Att/Rate controller: move max attitude params to Att Controller params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 14:35:34 +02:00
Silvan Fuhrer bf25d8b180 FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 
We currently fuse 0 as airspeed rate measurement, and thus simply low-pass
filter the airspeed measurements. Testing has shown that the current default
on the airspeed rate measurement noise is set to low, and thus the airspeed
mesurement is filtered too much.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:54:11 +02:00
Silvan Fuhrer 77d09785f3 TECS: init _velocity_control_traj_generator properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-15 13:53:32 +02:00
bresch 616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-05-12 13:42:09 +02:00
Silvan Fuhrer f19b81880f VTOL: adapt VT_QC_T_ALT_LOSS param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 06713cb655 VTOL: only run front transition alt loss QC if altitude is controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer c1d94c7f05 VTOL: extend front transition QC to first 5s after completing transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 0d156f84e6 VTOL: fix transition quadchute below home 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Silvan Fuhrer 233d901934 VTOL: align setting of _tecs_running_ts on all VTOL types 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-12 11:10:43 +02:00
Alejandro Hernández Cordero be03b7f098 Allow to modify uxrce_dds_client port with a env var 
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-05-10 08:17:56 -07:00
JaeyoungLim 47e802ef92
Fix tailsitter control frames (#21573) 2023-05-10 22:33:53 +09:00
Silvan Fuhrer 951f89c8a8 FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer 9c42dcbb0b ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer 87c8f170ae ROMFS: FW simulations: remove re-declaration of params to vehicle default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer 6fb55a8ad8 ROMFS: remove param RWTO_TKOFF from configs where only set to default again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer cad61fcb84 ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer ab71ef4447
FW Rate Controller: fix manual tailsitter (only transform to body frame once) (#21565) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 09:29:02 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Morten Fyhn Amundsen 04c5d70588 matrix: Describe emult, edivide functions 2023-05-09 16:14:55 +02:00
Silvan Fuhrer 4cd078409d AirspeedValidator: disable innovation checks if lpos invalid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-08 21:46:45 -04:00
Mathieu Bresciani 1e4fcfc614
mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
Thomas Debrunner da14650aa2 ads1115: Probe for reset value before init, do not spam console on device lost 2023-05-08 16:47:34 +02:00
PX4 BuildBot 38505c80be update all px4board kconfig 2023-05-08 08:48:48 -04:00
Julian Oes 636c3c069f gimbal: make device ID a clear out argument 
The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-08 07:06:37 +02:00
muramura 3c45b184d3 gps: Improve the FALSE setting of the ALREADY_COPIED variable 2023-05-08 07:04:11 +02:00