in the name of simplicity, have one hardcoded timeout. Options to
address actuators that need more time:
- repeatedly send the command from the GS
- use another param in the {MAV/VEHICLE}_CMD to specify the duration,
expose also in commander interface, take default if not given
The current preflight check works by sending individual actuator
commands over mavlink. This can only be done sequentially, so the
surfaces do not move in a coordinated way, instilling little confidence.
To alleviate, this adds a control surface preflight check which causes
the allocator to command torque in the given direction, so the control
surfaces move as they would in flight.
Triggered by `{MAV,VEHICLE}_CMD_ACTUATOR_GROUP_TEST`. Only runs when
pre-armed (control surfaces, tilts) or armed (thrust).
- Expose overrideCollectiveTilt in ActuatorEffectiveness, empty base, only overridden for Tiltrotor
- Allow giving collective tilt that is used in updateSetpoint in place
of command from tiltrotor_extra_controls
- Needs to be called with do_override = false to clear override
There's a check to disallow arming in modes that are not suite for takeoff. The allowed autonmous ones are:
Mission - desired
Loiter - does not make sense but needs to be kept for **** MAVLink MAVSDK workflow of first arming then switching mode
Offboard - acceptable advanced case even for RC
Takeoff - desired
VTOL Takeoff - desired
* fix(flight_mode_manager): fix terrain following position setpoint
In MPC_ALT_MODE=1 terrain following, the smoothing block was
overwriting the parent class's terrain-adjusted position setpoint.
Unify terrain hold and terrain following into a single terrain_position
flag that syncs the smoothing block to the parent's position, preventing
divergence and simplifying transition handling.
* refactor(flight_mode_manager): lift terrain-driven Z flag into base class
FlightTaskManualAltitudeSmoothVel re-derived the parent's terrain gate
in _setOutputState() to decide whether to keep the parent's position
setpoint or overwrite it with the smoothing block. Two problems with
that:
1. The condition was duplicated verbatim from the parent's gate in
_updateAltitudeLock(), so any future change there would silently
break the child.
2. The parent also invokes _terrainFollowing() from the min-altitude
safety branch (MPC_ALT_MODE != 1 && !_terrain_hold but below
hagl_min while braking). The child's open-coded condition did not
cover that case, so the smoothing block still overwrote a valid
terrain-adjusted setpoint there.
Move ownership of the decision into the parent: _terrainFollowing()
sets _z_setpoint_from_terrain iff it produced a finite setpoint, and
_updateAltitudeLock() resets the flag at the top of each iteration.
The child now reads the flag instead of re-deriving the condition,
which also fixes the min-altitude safety branch above.
_z_setpoint_from_terrain is named to stay semantically distinct from
_terrain_hold (an MPC_ALT_MODE=2 sub-state that gates the terrain
following logic).
NaN signals "unset" per the MAVLink spec. Without a guard,
math::radians(NaN) propagates through the Eulerf-to-Quatf conversion
and produces q=[nan,nan,nan,nan], freezing the gimbal. Substitute 0
for any non-finite axis with PX4_ISFINITE, matching the manual-control
pattern at input_mavlink.cpp:951.
Closes#26640.
* feat(zenoh): add support for configuring zenoh publisher options
Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express
Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string
Expose config options through zenoh config add publisher.
Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml
* fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE
Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory
* fix(zenoh): added publication options for default publications in dds_topics.yaml
Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control
Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control
* docs(zenoh) : added documentation for zenoh publisher options usage
* docs(docs): Link to params
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Quadratic thrust for SIH hexarotor (#67)
* sih: add thrust model hexacopter model
* fix: add missing line break
* sihsim_hey airframe: add THR_MDL_FAC
to accomodate for simulated quadratic motor thrust.
* fix(sih): fix quadratic model in simulation
The square was done in place and the low pass filter also effected the same variable, the result was that for small numbers the low pass filter gain was not enouhg with respect to the decay caused by squaring numbers close to zero. As a result even if you where trying to send 1 xcommands in simulation it would stoip around 0.008. Now the square is done in a different variable, the problem is not there anymore.
Tested in simulation
---------
Signed-off-by: Gennaro Guidone <gennaroguido2002@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Gennaro Guidone <gennaroguido2002@gmail.com>
Balduin
PX4BuildBot
Matthias Grob
bresch
Stolniceanu Iustin
Jacob Dahl
Hamish Willee
G. Amponis
msl-dev
Vuk-SFL
Balduin
Dorten8
Julian Oes
mahima-yoga
Claudio Chies