This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.
Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
- 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
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.
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).
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.
* 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>
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.
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.
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.
Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.
* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h
---------
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Remove option to track from previous wp to reduce complexity and fix
case where prev=current point and the line following broke down.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Position Control: some cosmetical changes
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Position Control: disable roll constraining warning in VTOL transition
In transitions it is expected that the roll is constrained, and
instead of defining an aribitrary threshold let's rather disable
the user warning in that case.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: define magic numbers for roll constraining warning as constants
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
- gz in PX4/Firmware (5f8f0213a807d327a30a7df05e58f7887cf936ab): 2228336568
- gz current upstream: 6b4ed09d1b
- Changes: 2228336568...6b4ed09d1b
6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34)
953e02b 2024-02-22 frede791 - add imu sensor model noise
ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist.
On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well.
The main problem was that during initial negotiation the client would
request the gimbal_manager_information from px4 but px4 would never send
it because in this configuration the device_compid was set to 0.
`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
* Added Lawnmower airframe
* Update 5005_gz_lawnmower
Works all right
* Update 5005_gz_lawnmower
RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED
* Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
* Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
* Renamed 5005_gz_lawnmower to 4011_gz_lawnmower
also pulled latest GZ models hash
---------
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
MissionBase did not initialize its mission data, thus could enter an
infinite loop in updateDatamanCache() if the initMission() failed to
read the mission off, for example, due to the SDCard storage task taking
longer than the timeout to respond.
This change constrains the loading loop and resets the mission data even
if the data write failed.
The setpoint.yaw can be NAN, and this made the calculated land point NAN
as well. Looking at the current yaw is anyway a better way to approximate
the course over ground that fundamentally should be used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
ADd a new misison feasiblity checker option to check if a proper landing approach is defined when in air. There must be at least a mission landing or a VTOL approach defined in order for the mission to be accepted. Else, use the same logic as in MIS_TKO_LAND_REQ=4
- gz in PX4/Firmware (c9ad60e3cc): c78f7f0141
- gz current upstream: f1c461fffb
- Changes: c78f7f0141...f1c461fffb
f1c461f 2024-02-08 frederik - increase monocam clipping distance
6d5db73 2024-02-07 Sergei Grichine - Added Zero Turn Lawnmower model (#27)
5332071 2024-02-06 Frederik Markus - add navsat plugin to worlds and navsat sensor to models (#26)
* publish the global groundtruth from the navsat callback and rearrange the local groundtruth as the altitude reference now has a dependency on the global groundtruth being initialized
---------
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
After smoothing the linera velocity setpoint, the EKF has trouble initializing, becuase the acceleration is too smooth, to combat this issue, there is a 1 second delay when initializing the mission mode
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>
* 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>
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>
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.
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.
* 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>
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* FixedWingPositionControl: split vtol backtransition logic into separate method
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* review changes
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* removed unused parameter
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* small renaming of transition mode
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
---------
Co-authored-by: bresch <brescianimathieu@gmail.com>
When handling multiple commands, it could happen that the first command
updates _reposition_triplet. Normally this would then get handled after
getting the mode change from commander through vehicle_status.
But if the next command is handled before an update from commander, it
could overwrite the triplet.
This patch ensures that navigator waits for an update from commander (and
therefore process the _reposition_triplet) before handling the next
command.
This happened specifically when pressing 'Pause' from QGC during a mission.
QGC sends VEHICLE_CMD_DO_REPOSITION twice, first for pausing, then changing
the altitude.
The result was that the vehicle would not stop at the current location but
continue to the next mission waypoint and stop there.
- fake_pos only if at rest or tilt variances becomes large
- fake pos: don't run when grav fusion is enabled
- gravity fusion enabled by default
- gravity: only fuse when accel norm and lpf norm are consistent
Co-authored-by: bresch <brescianimathieu@gmail.com>
A board can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE
If the board is wired board with TX to the input (Swapped) and
the SoC does not support U[S]ART level RX-TX swapping to allow
useing onewire to do the swap if and only if:
RC_SERIAL_SWAP_USING_SINGLEWIRE is defined
RC_SERIAL_SWAP_RXTX is defined
TIOCSSWAP is defined and retuns !OK
TIOCSSINGLEWIRE is defined
* TECS: reduce default of FW_T_I_GAIN_THR
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* TECS: reduce default of FW_T_THR_DAMP
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* TECS: improve param descriptions and meta data of some params
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: rename FW_T_THR_DAMP to FW_T_THR_DAMPING
Rename wihtout param translation as the interpretation of this param has changed
recently (a bug was fixed that caused the damping to have a much lower effect than
it should). We want to avoid that users keep the previously tuned value (with the bug)
and do not update the tuning when using the fixed version (v1.14.0 and later).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW Pos C: rename FW_T_I_GAIN_THR to FW_T_THR_INTEG
Rename wihtout param translation as the interpretation of this param has changed
recently (a bug was fixed that caused the damping to have a much lower effect than
it should). We want to avoid that users keep the previously tuned value (with the bug)
and do not update the tuning when using the fixed version (v1.14.0 and later).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This check gave a warning when one or more mission items were below the
Home altitude. As it is a valid usecase to plan missions below Home,
those warnings were too often seen as a inconvenience and are thus
removed here.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
That enables us to update the pitch setpoint in Stabilized mode
in the VTOL controller (pitch ramp for transition).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Separate offboard path setpoints as fixedwing pos control state
This commit separates offboard path following as a separate state inside the FW Poscontrol module.
This is a cleanup on clearly defining fw pos control behaviors
* Update src/modules/fw_pos_control/FixedwingPositionControl.cpp
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* Fix format
---------
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
The IMU topic is not zeroed, and the clipping information was not
copied, so this field ended up being garbage.
Signed-off-by: Julian Oes <julian@oes.ch>
With this margin it is made sure that if the loiter is not perfectly tracked,
(vehicle outside of path setpoint) a wp just at the border of the loiter
is still reachable.
It should though be as small as necessary, as otherwise, with good
loiter tracking, waypoints that are close but not right on the loiter
radius are not enforcing the exit course neither.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* 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>
1s gives some false positives at boot up, as the airspeed selector only
starts publishing 2s after its startup.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-remove dedicated vtol transition airspeed init logic
-init airspeed setpoint on first usage of tecs
-init to max of current airspeed and min airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* events: pass relative paths plus base path to source parser script
to work around maximum Makefile command lenght limits.
* events: correct cmake comment typo
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
The _control_mode_current wasn't updated otherwise, and only done so by luck
because we already set the current type to SETPOINT_TYPE_POSITION.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- double required max consecutive counts
- don't continuously complain about round trip time (RTT) unless
there's been at least one acceptable round trip (latency < 100 ms)
Before this fix, the time_utc_usec output from blending was always 0.
This means that you wouldn't get a valid vehicle_gps_position/time_utc_usec
With this commit, UTC timestamps are blended according to weights for
all GPSes with a nonzero UTC timestamp value.
It would be possible to simply use the first valid UTC timestamp instead
of blending, but since the system timestamps are blended, it seems
suitable to blend UTC timestamps as well.
- This fixes the force call on SensorSelectionUpdate
- In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
wait_until_altitude() checks for absolute altitude being
close so checking for 1m below the setpoint can fail
if the speedup results in no sample inside the altitude
window being checked.
Ideally the test could check if the takeoff is done directly
instead of comparing altitudes in the first place.
-remove external init, and instead always (but only) init when dt is too large
-init the controller params correctly
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
by only applying the sqrt linear drag when brakeing.
It was originally not done this way to avoid discontinuities and
the exact speed bewlo 1m/s didn't matter. With the position slow mode
the exact slow speeds now matter. And the discontinuities are avoided by
reusing the brake boost filter.
It is generally preferred to have the camera pointing forward on pause,
e.g. to use the camera for Navigation.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The velocity smoothing library constrains the maximum vellocity.
I set the default constraint to 0 to find these exact issues.
The heading smoothing did not initialize the maximum velocity
which in this use case is the maximum heading.
So heading was always constrained to 0 -> north until this change.
The defintion of the custom symbol M_PI_PRECISE
was not included in one of the only places it's used.
Looks like a mistake that happened in
34c852255e
possibly because a lot of things are included
almost everywhere and if the include order
ligns up there are no compile errors.
Note that the unit test also passes without
thechange. But the VelocitySmoothing's
local_time would get NAN. This would leads to
wrong trajectory calculations.
Problem: Zero maximum jerk and/or zero
direction would lead to divisions by zero in
various cases depending on the exact configuration and code path.
Solution: There was already one check for the
direction being zero in one path and I
summarized to check in both
updateDurations...() functions the product
of direction * max_jerk to not be zero
because that's exactly the value calculations
devide by.
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
The size input argument for monocypher crypto_xchacha20_ctr should be the
plaintext message length.
The promise of the interface is, that the call to encrypt_data updates the
ciphertext message length after the call succeeds.
The crypto should check that the output buffer length (cipher length) is
large enough to contain the encrypted data.
Fix these issues; these have gone unnoticed for a long time since the interface
has been only used by logger, and passing the same size for both in and out.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Removal of PX4_GZ_MODEL env variable and fix of ground glitching
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
The manufacturer uses both naming schemes, RoboClaw more than Roboclaw
but it's always one word and hence I think it's more consistent to name
it the latter.
This adds the ICM42686p as a possible alternative to the existing IMUs.
Apparently, the ICM20689 was never actually used in these boards.
Signed-off-by: Julian Oes <julian@oes.ch>
Otherwise if is set to Offtrack, which in turn leads to weird behavior.
E.g. when triggering Land while flying fast forward, the vehcile doesn't
descned to the land point it keeps getting a velocity setpoint from the
smoother that pushes it away from the land point.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This switches all SENS_EN_INAXXX params to 0 by default and instead uses
the i2c_launcher command.
However, if any one the SENS_EN_INAXXX param is set, it no longer tries
to auto-configure it.
Signed-off-by: Julian Oes <julian@oes.ch>
actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
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>
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- 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>
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.
* 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>
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
consistent with the relevant aid source (GPS, baro, etc), but it can
be a little awkward with users having to fight manual parameter
changes in the right order
nxp/rt117x:Fix Pin IRQ
nxp/rt117x:Support 4 i2c busses
nxp/rt117x:Add px4io_serial support
nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4
px4_fmu-6xrt:Using imxrt_flexspi_nor_octal
px4_fmu-6xrt:Entry is start
px4_fmu-6xrt:Add Proper MTD
px4_fmu-6xrt:Set I2C Buses
px4_fmu-6xrt:Proper SPI usage
px4_fmu-6xrt:Adjust memory Map to use the 2 MB
px4_fmu-6xrt:Bring in ROMAPI
px4_fmu-6xrt:Push FLASH to 200Mhz
px4_fmu-6xrt:Use BOARD_I2C_LATEINIT
px4_fmu-6xrt:Clock Config remove unused devices
px4_fmu-6xrt:Remove EVK SDRAM IO
px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE
px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI
px4_fmu-6xrt:Manifest
px4_fmu-6xrt:Restore board_peripheral_reset
px4_fmu-6xrt:Set I2C buss Interna/Externa and startup
nxp/rt117x:Set 6 I2C busses
px4_fmu-6xrt:Correct Clock Sources and Freqency Settings
px4_fmu-6xrt:Correct ADC Settings
px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning
px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata
Current config
1KB Prefetch .rodata
3KB Prefetch .text
px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers
px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable
px4_fmu-6xrt:Octal spi boot/debug problem bypass
px4_fmu-6xrt:Add PWM test
px4_fmu-6xrt:Fix clockconfig and USB vbus sense
px4_fmu-6xrt: Use TCM
px4_fmu-6xrt: Ethernet bringup
imxrt: use unique_id register for board_identity
px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0
px4_fmu-6xrt:correct rotation icm42688p onboard imu
rt117x: Add SSARC HP RAM driver for memory dumps
px4_fmu-6xrt: Enable hardfault_log
px4_fmu-6xrt: Enable DMA pool
px4_fmu-6xrt: fix uart mapping
px4_fmu-6xrt: enable SocketCAN & DroneCAN
px4_fmu-6xrt:Command line history TAB completion
px4_fmu-6xrt:Fix pinning duplication
px4_fmu-6xrt:Support conditional PHY address based on selected PHY
px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS
px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max
px4_fmu-6xrt::Set TELEM Buffers add HW HS
px4_fmu-6xrt:Turn off DMA poll
px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!
px4_fmu-6xrt: bootloader (#22228)
* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes
px4_fmu-6xrt:Default to use LAN8742A PHY
px4_fmu-v6xrt:VID Set to Drone Code
board_reset:Enable ability to write RTC GP regs
px4_fmu-6xrt:Fix CMP0079 error
rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT
px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders
fmu-v6xrt: increase 5v down time
fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.
imxrt:board_hw_rev_ver Rework for 3.893V Ref
px4_fmu-v6xrt:Move ADC to Port3
imxrt:117x Reuse all but io_timer_hw_description and imxrt_pinirq.c
imxrt:ADC & LPADC bifurcation and restructuring
imxrt:hrt support Up to GPT6
nxp/rt117x:adc Corrected
It was failing occationally with:
14:12:43 CMake Error at CMakeLists.txt:129 (list):
14:12:43 list index: 1 out of range (-1, 0)
14:12:43
14:12:43
14:12:43 CMake Error at CMakeLists.txt:131 (list):
14:12:43 list index: 2 out of range (-1, 0)
14:12:43
14:12:43
14:12:43 CMake Error at CMakeLists.txt:132 (string):
14:12:43 string sub-command REPLACE requires at least four arguments.
14:12:43
14:12:43
14:12:43 -- PX4 version: f513c40d62 (f513c40d62..NOTFOUND)
During a round corner the L1 distance calculation
was only done in 2D and the z-axis coordinate
was directly coming from the next waypoint.
This lead to an unpredictable altitude profile
between two waypoints. Sometimes almost all
altitude difference was already covered during
the turn instead of going diagonally.
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.
Signed-off-by: Julian Oes <julian@oes.ch>
The UART7 TXDMA services TELEM1 with flow control. If CTS is high, the
transmitting thread will wait on a semaphore, which may block other
threads from acquiring necessary resources to make progress, for
example, preventing MAVLINK instances from transmitting.
This change in NuttX makes the TXDMA acquire the semaphore in a
non-blocking way, preventing this issue.
- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increase wind process noise default (ASPD_WIND_NSD) and gate
(ASPD_TAS_GATE) to be able to catch rapid wind increases with
the internal wind estimator of the airspeed validator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Trust the beta innovations more compated to the TAS innovations.
That should help with detecting real airspeed failures even with
a dynamic wind estimate (as long as vehicle doesn't fly straight)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Reduces flash usage by ~16KB.
- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
https://github.com/atomicobject/heatshrink
- if not in air the accel noise is doubled
- if landed don't init unless GPS velocity is non-negligible
- when inactive continue seeding with EKF gyro bias
- reset yaw estimator if GPS fusion is stopped
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>
* 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>
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.
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.
- make it work again
- also supports Kconfig based clk source selection
- adapt to recent changes of default PWM limits
- support outputting in duty-cycle mode
- i2c addr use use hex representation
- revert back to common min/max value & move duty-cycle mode to advanced
We provide a latency measurement in the input capture handler.
However, since the timer was not enabled, none of the counter were
running therefore all counters were zero, thus latency was also zero.
Since the HRT is used to provide a timestamp, the lack of the running
timer was never noticed. After enabling the timer, latency now correctly
shows 9-10 counts.
* Fixed an issue where if the GCC_VER_STR would not contain the right NUTTX_GCC_VERSION, the grep -c command would throw a failure, silently exiting the entire ubuntu.sh setup script
This is a tool that can be used to generate advanced lift drag plugin parameters automatically using AVL. Rather than having to create .avl files yourself, pass them to AVL, read out the correct parameters and place them in the Advanced Lift Drag plugin, this tool will do all that for you and generate a complete advanced_lift_drag plugin sdf containing all necessary parameters for any vehicle. All that is required is to specify what the physical geometries of the vehicle are. The scripts are adaptable enough to support a self-selected number of control surfaces.
---------
Co-authored-by: frederik <frederik@auterion.com>
This switches from the horribly intertwined ringbuffer implementation to
the new VariableLengthRingbuffer implementation.
By ditching the previous implementation, we fix MAVLink message
forwarding, which didn't work reliably. The reason it didn't work is
that multiple mavlink messages could be added but only one of them was
sent out because the buffer didn't keep track of the messages properly
and only read the first one.
Signed-off-by: Julian Oes <julian@oes.ch>
This adds a reusable class for a FIFO ringbuffer that accepts variable
length packets. It is using the Ringbuffer class internally.
Signed-off-by: Julian Oes <julian@oes.ch>
* mission_base: reset inactivation index when user set a new mission index, or mission is reset.
* mission_base: check Climb required always on current mission item
This prevents accidental misconfiguration via I2C if there are
multiple SPI devices on the same bus. The device may hear it's i2c address
and write some register, while there is data transfer ongoing with another
device.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
WorkItemSingleShot::_sem is a signaling semaphore, disable PI for it.
Set CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due to the semaphore
having no holder, disabling PI fixes this.
The head/tail semaphores are not used as lock but rather as resource
counters and thus relate more as signaling semaphores. Disable PI for
them.
I run my code with CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due
to the semaphore having no holder, disabling PI fixes this.
This prevents the mavlink transmit loop from waiting on the module mutex
thus not stopping transmissions when the mutex is already taken.
This can happen when calling `mavlink status` from the mavlink shell,
where `Mavlink::get_status_all_instances()` takes the mutex and then
prints the status via pipes to the mavlink transmit buffer.
If that pipe cannot be emptied a deadlock happens.
Since the MavlinkReceiver thread also waits on the module mutex, both
reception and transmission of Mavlink packets are then prevented thus
disabling communications entirely.
IMUs were replaced in V3 with 2x ICM42688P. This configuration should
work with all revisions of Matek F743 Slim board, including V1, V1.5
and interim variant of V3 (ICM42688P + ICM42605).
Signed-off-by: Andrei Korigodskii <akorigod@gmail.com>
In the lightware_parser function, LW_PARSE_STATE2_GOT_DIGIT0 state can be repeated unexpectedly without proper parserbuf_index or state checking. This behavior will trigger a heap buffer overflow vulnerability by allowing to write some data. And the writable size is sizeof(unsigned).
* ekf2_derivation: use single source of state definition
The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition
* ekf2: generated state sample add const reference getter
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Matthias Grob
Thomas Frans
Eric Katzfey
Daniel Agar
Beat Küng
Thomas Frans
Øyvind Taksdal Stubhaug
alexklimaj
bresch
Drone-Lab
muramura
Hamish Willee
Silvan Fuhrer
Alexander Lampalzer
Niklas Hauser
Thomas Stauber
Konrad
KonradRudin
Alexis Guijarro
Eric Katzfey
cuav-liu1
PX4 BuildBot
Peter van der Perk
Sihyun Noh
Peter van der Perk
Don Gagne
DanielePettenuzzo
GuillaumeLaine
makekam
Sergei Grichine
PerFrivik
Cyril C
Frederik Markus
fury1895
Andrew Brahim
Alessandro Simovic
Vincent Poon
David Sidrane
Julian Oes
Roman Bapst
Mykhailo Ziatin
Igor Mišić
somebody-once-told-me
enesavcu
Henry Kotzé
Bryce Melander
Anthony Merlino
dirksavage88
Jaeyoung Lim
Federico Ciresola
MaEtUgR
Beniamino Pozzan
jamming
marcojob
Kjersti Brynestad
Marcin
Thomas Stastny
frederik
Jukka Laitinen
Jacob Dahl
PerFrivik
Per Frivik
Beniamino Pozzan
Jacob Dahl
Christian Rauch
bresch
Braden Wagstaff
Bryce Clark
Michał Barciś
Michał Barciś
murata
Damien SIX
Claudio Micheli
robbie-sps
Sverre Velten Rothmund
Ramon Roche
alessandro
SalimTerryLi
Engin Oksuz
Titus
Robbie Drage
Ville Juven
Andrei Korigodskii
Daniel Honies
jmackay2
vlad-serbanica
ZeroOne
Serkan Mazlum