mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-10 14:51:15 +08:00
b7ffd6ea2c2e14bfa9cf04532b29661629e4e129
2894 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Jaeyoung Lim
|
ac2f2cf2c8 |
Follow camera with gz topic (#26023)
* Follow camera with gz topic * Set follow pgain as well |
||
|
Jaeyoung Lim
|
5df20b8e9b |
Add custom gz airspeed plugin and add wind effects (#26018)
* Add px4 custom airspeed sensor * Format fix |
||
 Phil-Engljaehringer
|
8a2239f3e8 |
drivers: Add TLA2528 ADC driver (#25898)
* tla2528 basic implementation (restarting driver still fails) * fixed probe function, restarting driver now works * -added reset call to init -added return value checks on all important transfers and retry if failed when possible -removed comments -removed unnecessary parameters of module * Introduced initialization-states that can be executed multiple times on failure * Added one more state s.t. init() only does probing * added communication error count _comms_errors * use get() instead of param_find * changed scheduling interval * start in reset state. check second byte in probe. add 2 retries to probe function * add space in front of comments * jump to reset state when another state fails * changed SAMPLE_INTERVAL to 10_ms * added static assert on number of channels in adc_report |
||
 Silvan
|
f80b05e4f9 |
ROMFS: remove all CA_AIRFRAME sets to 1 as it is now in fw_defaults
Signed-off-by: Silvan <silvan@auterion.com> |
||
|
Silvan
|
6d0e27222c |
ROMFS fw_defaults: add CA_AIRFRAME set to 1 (fixed-wing)
I guess 99% of fixed-wings have this set to 1, so let's just put it into the defaults. Signed-off-by: Silvan <silvan@auterion.com> |
||
 TedObrien
|
a94ee4382b | MCP9808: Create driver for MCP9808 temperature sensor | ||
|
Phil-Engljaehringer
|
fb13b880ce |
sensors: add ads7953 adc
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* sensors: add ads7953 adc * Update src/drivers/adc/ads7953/ADS7953.h Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Implemented changes suggested by review * Implemented suggested changes * removed unused variables and moved scope of ch_id * Activated distance sensor again * Update msg/AdcReport.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update ADC report message field comments * Update ADC msg - fix layout * update comments * changed group to Sensors in module.yaml * created new module subcategory "adc" * reverted group change in module.yaml * added module descrption to modules_driver.md * removed module description in modules_driver.md (autogenerated) * removed unused variable, changed board_adc publication method to "multi" * added static assert --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> |
||
 mahima-yoga
|
056289892c |
fw_defaults: bump default EKF2_REQ_PDOP to 4
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|
||
 Alexander Lerach
|
e8fbc30cf6 | boards: add auterion v6x target | ||
 Matthias Grob
|
12035682d7 |
Use MAVLink v1 only as opt-in (#25583)
* Remove support for MAVLink 1 * Add back support for MAVLink 1 but don't default to it * Update src/modules/mavlink/mavlink_params.c Co-authored-by: Hamish Willee <hamishwillee@gmail.com> --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> |
||
|
Matthias Grob
|
33301764e4 |
Handle SYS_AUTOSTART 0 the same as no valid airframe being available (#25645)
* ROMFS: do not exit airframe loading if SYS_AUTOSTART is 0 Do not treat 0 as a magic value that skips the aiframe loading. Instead leave it tot he rc.autostart to load an airframe that if finds appropriate (can be defined in external aiframe). Signed-off-by: Silvan <silvan@auterion.com> * ROMFS: adjust airframe load spacing and message/comment wording --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com> |
||
 Jacob Dahl
|
12f6005c5c | romfs: allow target level airframe selection (#25677) | ||
 Peter van der Perk
|
2f48cb4ef2 |
MR-CANHUBK344 NXP B3RB Rover support (#23897)
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* s32k3xx: EMIOS allow independent frequencies for each channel * mr-canhubk3: update config * mr-canhubk344: Fix adap board detect * mr-canhubk344: Use LPSPI1 (Port P1A) for SD card * airframes: Add B3RB Ackermann rover config See https://nxp.gitbook.io/mr-b3rb for more information about the NXP B3RB platform. PX4 Support basic control for now |
||
|
Alexander Lerach
|
97a97991c1 | airframes 4017, 4041: exclude from v6x targets to save flash | ||
 chfriedrich98
|
a6bf5a9066 |
Rover: Simulation Update (#25644)
* gz: update submodule * rover: update simulation airframes * docs: rover simulation |
||
|
Matthias Grob
|
e0cdcdb436 |
Remove COM_POSCTL_NAVL
In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land. |
||
 Pedro Roque
|
271cb49597 | feat: airframe documentation for spacecraft (#25294) | ||
|
Silvan
|
ce207837cf |
rc.sensors: add iis2mdc mag to list of probed for sensors
Signed-off-by: Silvan <silvan@auterion.com> |
||
|
Alexander Lerach
|
8f2c36689d |
logging: allow logging backend config
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* logging: allow logging backend config * correct board comments * documentation: updated logging section |
||
 Peter van der Perk
|
85cab5a4db | sitl: autostart zenoh if enabled | ||
|
Alexander Lerach
|
138427b3a8 |
config: add dynamic init file
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* config: add dynamic init file * added review feedback * added docs |
||
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chfriedrich98
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9a1845902e | ackermann: add SIH airframe (#25405) | ||
 Jacob Dahl
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86f049ead1 | romfs: generic_250: set MPC_Z_VEL_MAX_DN to match UP | ||
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Jacob Dahl
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463ddcab86 | payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s | ||
 Sindre Meyer Hegre
|
3be0cb077c |
Neural Control Mode (#24366)
* Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com> |
||
 Sandesh Sharma
|
959587d2c9 |
fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231)
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* Read XRCE_DDS IP from ENV * just remove the -h flag from the launch command * add 127.0.0.1 as default IP * add default value for IP |
||
 E-Krantz
|
23ad974f30 | fix: spacecraft airframe naming (#25289) | ||
 Hamish Willee
|
4247383bae | 50001_aion_robotics_r1_rover - discontinued | ||
|
Pedro Roque
|
e14eea5615 |
feat: BlueROV2 Heavy updated control (attitude and position) and model (#25052)
* rft: clean merge to PX4 * fix: formatting * fix: extra line * fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle * feat: updated gazebo models to include bluerov update * fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build * fix: added saturation to thrust and torque messages via param * doc: updated parameters documentation for uuv * fix: formatting * feat: matching hardware reference * fix: thrusters kg * rft: removed commented lines * fix: update gz reference given hw setup * fix: hardware references * fix: recommendations * fix: updated settings to match hardware * rft: check only for fixed and rotary wing for high throttle Co-authored-by: Daniel Agar <daniel@agar.ca> * fix: commit oupsie * fix: format * rft: remove is_uuv * fix: hw parameters, uuv build target for v6x * feat: added support for D-pad attitude changes in stabilized position control * fix: position setpoint update and parametrized trajectory age and att change * fix: format * fix: removed duplicated call to check_validity_setpoint * fix: setpoint update on arming logic * fix: setpoint initialization for stabilized mode --------- Co-authored-by: Daniel Agar <daniel@agar.ca> |
||
|
Pedro Roque
|
2f55dff8b9 |
feat: spacecraft support (#24734)
* rft: initial merging of controllers for spacecraft vehicles * feat: rate controller nominal * feat: spacecraft tooling for commander and VehicleStatus * feat: spacecraft tooling for commander and VehicleStatus * fix: format * fix: format * fix: remove iostream * fix: remove iostream * feat: spacecraft attitude control and minor refactoring of params * feat: add position controller * fix: format * fix: moved trajectories to new message, removed derivative filters * fix: format * fix: removed extra newline * fix: spacecraft allocation builds * feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments * feat: required changes for allocation * feat: thruster simulation interface * fix: update maximum and minimums * fix: format * fix: added newline at the end of spacecraft actuator effectiveness * feat: configurable board pwm freq from Kconfig * feat: mavlink compliant spacecraft definition * feat: add orbiter to define * boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson) feat: spacecraft tooling for commander and VehicleStatus fix: format fix: remove iostream feat: mavlink compliant spacecraft definition * feat: add orbiter to define * feat: add orbiter to define * fix: change mav_type to new spacecraft orbiter enum value * fix: build issue * feat: update mavlink * feat: update mavlink to latest master with spacecraft * feat: update mavlink * feat: update mavlink to latest * feat: cleanup and synchronization with new mavlink vehicle definition * fix: get away without specifying spacecraft vehicle * fix: removed unnecessary definition * fix: format * feat: cmake variant for spacecraft * feat: proper mav_type and rc init * fix: removed dart from build system * add: thrusters to actuator type * rft: reordering actuator type * rft: initial merging of controllers for spacecraft vehicles * feat: rate controller nominal * fix: format * feat: spacecraft attitude control and minor refactoring of params * feat: add position controller * fix: format * fix: moved trajectories to new message, removed derivative filters * fix: format * fix: removed extra newline * fix: spacecraft allocation builds * feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments * feat: required changes for allocation * feat: thruster simulation interface * fix: update maximum and minimums * fix: format * fix: added newline at the end of spacecraft actuator effectiveness * feat: configurable board pwm freq from Kconfig * feat: add orbiter to define * feat: cleanup and synchronization with new mavlink vehicle definition * fix: get away without specifying spacecraft vehicle * fix: conflicts * fix: format * fix: remove duplicate entry * rft: remove Kconfig changes * rft: revert main Kconfig * rft: revert main kcoonfig on platforms * rft: remove changes to board PWm (go on another PR) * rft: revert changes to commander (main is correct) * fix: extra char on commander_helper * rft: removed extra spaces * rft: moved effectiveness to spacecraft * fix: spacecraft effectiveness * fix: extra space * feat: preliminary version, still using thrusters * rft: initial pipeline on PX4 side with rotors instead of thrusters * feat: add atmos model * feat: spacecraft with rotor pipeline tested, working * feat: update gz * rft: removed thruster interfaces * fix: format * fix: remove control allocation * fix: thruster normalization * fix: format * fix: nuttx version * fix: clang tidy error * feat: updated gz to add atmos model * fix: update gz * fix: update mavlink * fix: remove friend class from allocation lib * fix: remove actuator_outputs/motors --------- Co-authored-by: Alexander Lerach <alexander@auterion.com> |
||
|
chfriedrich98
|
b4bfbbb5e0 | ackermann: add SIH (#25194) | ||
|
Alexander Lerach
|
7f5119f402 | sensors: autostart bmm350 and add it to common mags | ||
 chfriedrich98
|
e266d1f22f | rover: remove deprecated module | ||
 Ramon Roche
|
58dcfb0a02 |
shellcheck: fix SC3014 == in place of =
Fixes SC3014 (error): In dash, == in place of = is not supported. Signed-off-by: Ramon Roche <mrpollo@gmail.com> |
||
 bresch
|
d35c5f4a4e |
SIH-plane: tune angular rate controllers
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|
||
 Sergei Grichine
|
dd0d00aedc |
Update 4009_gz_r1_rover (#25150)
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|
||
|
chfriedrich98
|
5bb183afde |
Update fmu rover builds (#25139)
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* rover: add rover build for all fmu versions * rover: remove board specific exclusion of rover airframes |
||
|
chfriedrich98
|
5b1f58c069 | differential: add generic differential rover gazebo airframe | ||
 amovlgf
|
fdef302e06 |
Add new Compass QMC5883P (#25115)
* add qmc5883p drivers * format correction for qmc5883p * make format * remove extra newlines --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> |
||
|
Sergei Grichine
|
256b329aab |
Differential: Update 4011_gz_lawnmower to match recent changes in Rover controls (#25079)
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|
||
|
chfriedrich98
|
f35b92a487 | rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR | ||
|
chfriedrich98
|
eed966a1c6 | rover: reduce speed based on course error | ||
|
Alexander Lerach
|
6f81998e27 | hardfault: add option to stream via mavlink | ||
|
Jacob Dahl
|
edda54b26b |
build: romf: fix generation of rc.board_bootloader_upgrade (#25032)
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|
||
|
Pedro Roque
|
6d15019717 |
feat: spacecraft tooling for commander and VehicleStatus (#24716)
* feat: spacecraft tooling for commander and VehicleStatus * fix: format * fix: remove iostream * feat: mavlink compliant spacecraft definition * feat: add orbiter to define feat: spacecraft tooling for commander and VehicleStatus fix: format fix: remove iostream feat: mavlink compliant spacecraft definition * feat: add orbiter to define * feat: update mavlink to latest * fix: get away without specifying spacecraft vehicle * fix: removed unnecessary definition * fix: format |
||
 Balduin
|
e346e24158 |
gz: Use pose specified by PX4_GZ_MODEL_POSE (#24956)
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* gz: use pose specified by PX4_GZ_MODEL_POSE * gz: fix empty PX4_GZ_MODEL_POSE case * gz: no pose rather than zero on empty argument |
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Hamish Willee
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6095fc710c | Update rcS - fix trivial typo (#24963) | ||
 Bastian Jäger
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7f569542a2 |
feat: allow PX4_UXRCE_DDS_NS override with empty sting (#24921)
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||
 Roman Bapst
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b26dd4d3f3 |
Commander: Introduce global_position_relaxed (#24280)
To separate accuracy requirements for VTOL hover and cruise. - global_position_relaxed refers to having a valid horizontal velocity aid source in the estimator and a set global reference position, but poses no requirements on the accuracy of the provided position estimate. - Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, only require the relaxed global position going forward - COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW) - rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com> |
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Matthias Grob
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ce9bb0dc6b |
multicopter defaults: use PX4 default <2g ublox GNSS dynamic model also for multirotors
It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer. |