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43030 Commits

Author SHA1 Message Date
Silvan Fuhrer 8741a9784d TECS: remove TECS_MODE enum and instead add descriptive boolean flag to tecs_status 
New flag: underspeed_mode_enabled.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-07 12:18:06 -05:00
Silvan Fuhrer a6fcf7b48c TECS: remove airspeed adaption in case of underspeed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-07 12:18:06 -05:00
alexklimaj 4dda99c80b mc_pos_control: MPC_ALT_MODE make terrain hold default 2023-11-07 12:00:14 -05:00
alexklimaj de0910c767 flight mode manager: fix terrain hold 2023-11-07 12:00:14 -05:00
Sverre Velten Rothmund 94d4dc85f8 ekf2: Make stuck detector optional 2023-11-07 11:57:19 +01:00
Konrad 3d16383bb4 mavlink_tests: fix include directory to point to chosen mavlink dialect 2023-11-07 11:35:23 +01:00
Matthias Grob c53e0c4799 cpuResourceCheck: use hysteresis class 2023-11-07 11:19:28 +01:00
Silvan Fuhrer fd009c8be3 CPU resource check: use class member and fix param description 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-07 11:19:28 +01:00
Silvan Fuhrer c054bc2370 Commander: cpuResourcesCheck: add 2 seconds hysteresis to trigger failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-07 11:19:28 +01:00
Matthias Grob ae888b73d0 battery: report over voltage 2023-11-06 18:17:28 +01:00
Silvan Fuhrer 54d26e084a
Commander: windCheck: add COM_WIND_MAX_ACT param to set high wind failsafe action (#21373) 
Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-06 11:58:21 +01:00
Ramon Roche a29b07fa73 Security Vulnerability Reporting 2023-11-06 09:32:16 +01:00
Frederik Markus 39fbfd8e0c
Port of Advanced Plane from Gazebo Classic to Gazebo (#22167) 
* started tiltrotor port

* added advanced plane and changed some parameters on the tiltrotor

* added advanced plane

* removed tiltrotor for clean push

* removed standard vtol old model file

* removing the standard vtol changes from this PR, since it is not part of the advanced plane

* removed advanced plane meshes as they are already found in the rc_cessna

* updating and improving airframe parameters

* updated mesh paths

Signed-off-by: frederik <frederik@auterion.com>

---------

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
 2023-11-06 09:31:04 +01:00
Christian Rauch 22ee90b7d7 add include path for crc32.h on "posix" and "ros2" platform 2023-11-03 11:50:56 -04:00
Christian Rauch 7394a20a58 ignore px4_log on "ros2" platform 2023-11-03 11:50:56 -04:00
alessandro 428e7d7754
mavlink: remove double assignment of battery field 2023-11-03 11:49:25 -04:00
Beat Küng fd0a311f3c Makefile: exclude submodules for 'make validate_module_configs' 2023-11-03 11:09:57 -04:00
alexklimaj 51e1a80556 driver: cleanup imu folder 2023-11-03 10:50:27 -04:00
bresch a989e5338c ekf2: reset globlal position uncertainty when GNSS is fused 
There is no reason to keep an uncertainty on the origin as it is then
already contained in the local position estimate when GNSS data is fused
in the filter.
 2023-11-02 13:11:40 -04:00
Frederik Markus d6dbf38a1b
add windy default world (#22273) 
* add windy default world

* Rename windy_default.sdf to windy.sdf

* rename windy.sdf world

---------

Co-authored-by: frederik <frederik@auterion.com>
 2023-11-01 09:35:37 +01:00
Konrad 1089079a32 Figure_of_eight: Make configuration dependent on defined mavlink_message_id. 2023-10-31 15:57:59 -04:00
Konrad e3473a0f90 mavsdk_tests: Add integration tests for figure of 8 2023-10-31 15:57:59 -04:00
Konrad 8edd7ce2c1 kconfig: Add option to enable figure of eight support 2023-10-31 15:57:59 -04:00
Konrad e5e66370e7 FixedwingPositionControl: Add support for figure 8 loitering. 
The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller.

The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by:
The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center.
The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above.
In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles.
The orientation rotates the major axis around the NED down axis.

The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle.

A feedback mavlink message is send with the executed pattern parameters.
 2023-10-31 15:57:59 -04:00
Mathieu Bresciani 0d6c2c8ce9
EKF2: Error-State Kalman Filter (#22262) 
* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
 2023-10-31 10:02:18 -04:00
Daniel Agar d7f388e590 boards: ARK CAN node NuttX flash savings 2023-10-31 09:59:15 -04:00
Peter van der Perk fee6d250f3 zenoh: fix sitl ci compile warning 2023-10-31 09:55:51 -04:00
Konrad 2e850371c5 test_vtol_rtl: increase time to disarm to make tailsitter CI pass 2023-10-31 14:16:02 +01:00
Konrad e4e2e6374a fmu-v6x: enable vtol takeoff again 2023-10-31 14:16:02 +01:00
Konrad 654e885003 mavsdk: Add integration tests for RTL with approaches 2023-10-31 14:16:02 +01:00
Konrad 24f59dd465 autopilot_tester: Add mavlink passthrough to end custom commands 2023-10-31 14:16:02 +01:00
Konrad a4d05085a7 Navigator: Don't switch to RTL if already in landing phase of mission. 2023-10-31 14:16:02 +01:00
Konrad c1214c847f rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash 2023-10-31 14:16:02 +01:00
Konrad 698c57c5f8 [RTL] Add VTOL land approach for home with designated loiter points in the RTL mode. 2023-10-31 14:16:02 +01:00
Konrad e2cbf5be94 [RTL] Update MAVLINK Mission logic to send optional loiter points to mission rally points. 2023-10-31 14:16:02 +01:00
Frederik Markus 26fd4c852c
update default omnicopter pose (#22218) 
Co-authored-by: frederik <frederik@auterion.com>
 2023-10-30 14:38:48 +01:00
alexklimaj 794d0d177b boards: ARKV6X Rev 3 IIM42653 disable CLKIN 2023-10-27 16:29:01 -04:00
alexklimaj 6a849163db drivers iim42652 and iim42653 disable AFSR 2023-10-27 16:29:01 -04:00
alexklimaj d882ae05c1 make format fix zenoh 2023-10-27 16:29:01 -04:00
alexklimaj db765e6cbd drivers: icm42688p fix AFSR register 2023-10-27 16:29:01 -04:00
alexklimaj c6287a8a89 boards: arkv6x fix wrong pwm output values 2023-10-27 16:24:41 -04:00
David Sidrane d3d5b582fc NuttX with [BACKPORT] LPi2C timeout of 0 fixed 2023-10-27 03:57:35 -04:00
David Sidrane 53655b1e3c nxp_ucans32k146:Add rgbled_ncp5623b 2023-10-27 03:57:35 -04:00
David Sidrane b8b150b213 UavcanNode:Fix Breakage from 3d61ab SocketCAN is FD based 
SocketCAN uses FDs. FD's are per task/thread
  Run() is not on the same thread as init().
 2023-10-27 03:57:35 -04:00
David Sidrane 01e9418310 s32k14x:canbootloader board_identity Return the same word ordering as s32k1xx/version/board_identity 2023-10-27 03:57:35 -04:00
David Sidrane a0491bfb9a nxp_ucans32k146:Provide board_app_shared_read 2023-10-27 03:57:35 -04:00
David Sidrane 1a2a02b7ae UavcanNode:Support optional board_app_shared_read 2023-10-27 03:57:35 -04:00
David Sidrane 479c1524b1 boot_app_shared:Add optional board_app_shared_read 2023-10-27 03:57:35 -04:00
David Sidrane 85aeedd986 s32k14x:Make use of boot_app_shared shared_[un]lock 2023-10-27 03:57:35 -04:00
David Sidrane 285e0ca519 canbootloader boot_app_shared:Add optional shared_[un]lock 2023-10-27 03:57:35 -04:00