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
2025-07-01 10:31:12 -08:00
5b1f58c069
differential: add generic differential rover gazebo airframe
2025-07-01 10:38:53 +02:00
fdef302e06
Add new Compass QMC5883P ( #25115 )
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* add qmc5883p drivers
* format correction for qmc5883p
* make format
* remove extra newlines
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2025-06-30 10:33:21 -08:00
256b329aab
Differential: Update 4011_gz_lawnmower to match recent changes in Rover controls ( #25079 )
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2025-06-24 09:17:10 +02:00
f35b92a487
rover: replace RX_MAX_THR_YAW_R with a correction factor RO_YAW_RATE_CORR
2025-06-18 08:35:48 +02:00
eed966a1c6
rover: reduce speed based on course error
2025-06-18 08:35:48 +02:00
6f81998e27
hardfault: add option to stream via mavlink
2025-06-13 13:32:00 +02:00
edda54b26b
build: romf: fix generation of rc.board_bootloader_upgrade ( #25032 )
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2025-06-13 00:45:14 -08:00
6d15019717
feat: spacecraft tooling for commander and VehicleStatus ( #24716 )
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* 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
2025-06-12 21:48:48 +02:00
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
2025-06-06 10:30:56 -08:00
6095fc710c
Update rcS - fix trivial typo ( #24963 )
2025-06-04 09:07:44 -08:00
7f569542a2
feat: allow PX4_UXRCE_DDS_NS override with empty sting ( #24921 )
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2025-05-31 20:55:10 +01:00
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 >
2025-05-28 08:16:10 +02:00
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.
2025-05-27 15:27:32 +02:00
8c1f7ec7c0
rename FWPositionController to FWModeManager
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-05-26 14:47:38 +02:00
779a55c6dc
FW Position Controller rework
...
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-05-26 14:47:38 +02:00
0b3fc0a62d
SIH: add Hexacopter X
...
to enable easy simulation of a motor failure.
2025-05-20 13:23:08 +02:00
a8618691f0
docs: gz: update docs for multi vehicle simulation ( #24822 )
2025-05-10 20:20:14 +01:00
050425af25
gz: specify custom world coordinates ( #24813 )
...
gz: allow custom world coordinates with environment variables and update the docs
2025-05-07 20:36:40 +02:00
2fece23c64
gz small improvements ( #24761 )
...
* gz: print version number in init, remove gst plugin spam, rename function
* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions
* format
* change gzerr to gzwarn
2025-05-04 14:41:19 -08:00
918848095a
ROMFS: exclude 4020_holybro_px4vision_v1_5 from v6x builds to save flash
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-05-02 13:37:18 +02:00
ca01d9e37c
differential: update airframe tuning
2025-04-29 14:49:44 +02:00
f0a852918b
lis2mdl: remove driver from source. This part is functionaly equivalent to the iis2mdc
2025-04-09 09:28:38 -06:00
e228456a67
ackermann: update 51001 airframe
2025-04-08 12:27:11 +02:00
bbcd153e94
sitl: add generic way to override params via ENV variables
2025-04-04 09:12:53 +02:00
74a8d897b2
ROMFS: start heater after px4io
...
Otherwise the device is not available when we start the heater.
2025-04-04 08:31:06 +02:00
9e8b530ad9
sim: refactor startup scripts and fix gz sim standalone ( #24600 )
...
* sim: refactor px4-rc.simulator into sim specific startup scripts. Fix gz sim for standalone mode.
* shellcheck disable=SC2154
2025-03-25 11:49:03 -06:00
451b0a3db8
gz: rc.simulator: remove references to garden and improve version check ( #24577 )
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2025-03-21 14:22:24 -08:00
3b66166d6c
gz: wait for world before spawning model, delay 1s after model spawn to allow time ( #24516 )
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2025-03-17 12:29:10 -06:00
40c26e7880
17002_flightgear_tf-g2: translate FW_THR_CRUISE to FW_THR_TRIM ( #24523 )
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See 461d0561b8
2025-03-17 17:18:46 +01:00
8e6d2ebe4a
gz: fix model sdf path ( #24488 )
2025-03-12 21:39:26 -06:00
579a1e48e9
airframes/4019_x500_v2: removed defaults for min & max motors ( #24459 )
2025-03-12 12:18:08 -04:00
901ef4aef5
rc.sensors: try starting iis2mdc ( #24254 )
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2025-03-06 14:13:11 -09:00
ea8bcd9cef
gz: use server config file for loading world plugins ( #24441 )
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* gz: use server config file for loading world plugins
* submodule
* use server.config in tree
* newlines
* format
* gzbridge: rename function
* format
* gzbridge: add magnetometer callback
* change gz_find_package to find_package
* fix up directory structure and cmake to allow multiple plugins
* newlines
* add comment block explaining gz_env.sh
* remove dupe readme
* remove SENS_EN_MAGSIM from all gz airframe files except spacecraft
* update gz submodule
2025-03-05 17:37:16 -07:00
6dc39d9deb
[wip] gz plugins ( #24153 )
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* added optical flow to gz bridge
* log high rate sensor data
* it builds
* it builds and publishes, need to figure out build system now
* single library
* rename files
* add gz_msg for proto, fix build, test basic flow impl
* update rate, no blur
* PX4-OpticalFlow impl
* rename OpticalFlowSensor
* rename plugins
* disable gps, add plugin path
* cleanup
* fix plugin path export
* properly add OpticalFlowSystem dependency to gz
* move everything under gz_bridge
* cleanup
* add GZ_VEBOSE
* cleanup model/world build target cmake
* added GZ_DISTRO env, harmonic or ionic
* fix gz transport, unstage ark fpv bootloader
* unstage logged_topics.cpp
* cleanup
* make format
* ci fixes
* fix cmake
* remove required for gz-transport
* use model/world namespace for multi vehicle sim. Make format
* make format
* license
* remove needless member var
* made separate Kconfig for gz_msgs, gz_plugins, and gz_bridge
* move OpticalFlow build to it's own cmake
* fix clang
* cleanup comments
* fix rebase
2025-03-03 12:21:28 -09:00
3b2d74b017
gz: Refactor GZBridge and px4-rc.simulator ( #24421 )
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* disable SENS_EN_GPSSIM for all gz airframes
* add GPS + noise to GZBridge
* remove mutex from gz callbacks. Callbacks run synchronously after sim update step and run() loop does not share resources.
* remove hrt check in callbacks
* format
* remove param set-default for already default params
* update submodule
* remove unnecessary comments
* overhaul of the GZBridge and px4-rc.simulator script
* remove arg
* shellcheck disable
* add bus/address
* start gz_bridge before adjusting sim speed or camera follow
2025-03-03 11:29:21 -09:00
0a9a1a1552
[rcS] Only start CDC/ACM when the module is enabled ( #24430 )
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Otherwise sercon and mavlink are attempted to be started and may fail,
spamming the console on boot with error messages.
2025-02-28 11:09:45 -09:00
7c63468e8b
mecanum: refactor code architecture
2025-02-25 17:06:17 +01:00
2356cb973f
Performance & testing targets
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* Added minimal configs for performance testing
* Rename recovery to performance
* added mfg_cfg
* fix params & don't inherit from default
* rename performance -> performance-test
---------
Co-authored-by: Igor-Misic <igy1000mb@gmail.com >
2025-02-24 16:02:46 +01:00
04a3c4af20
Differential Rover: Refactor and clean up, align with Ackermann rover( #24318 )
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* differential: refactor code architecture
* Offboard fix
* fix accel/decel slew rate
2025-02-18 18:26:38 +01:00
3c129aefa1
Add IC engine control module ( #24055 )
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Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Pernilla <pernilla@auterion.com >
2025-02-18 17:15:32 +01:00
ed9111ec49
Remove obstacle avoidance test with Gazebo classic and ROS 1
2025-02-18 14:33:16 +01:00
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
55f51d7e7e
ackermann: refactor code architecture
2025-02-10 15:54:24 +01:00
e7e76e2e21
Spacecraft build and bare control allocator ( #24221 )
2025-02-06 23:54:24 -05:00
96105cacc0
SIH airframes: clean up configs
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- set SIH_L_ROLL that agrees with CA_* rotor geometry
- remove unnecessary params & comments
- clarify that ailerons are single channel
2025-01-29 16:22:43 +01:00
41c4933e10
add standard vtol airframe
2025-01-29 11:15:00 +01:00
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed ( #24249 )
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2025-01-28 14:33:15 +01:00
5bca71791a
SIH: clean up control surface configuration ( #24205 )
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* fix sign error in appropriate place
In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the
control surface deflection signs in generate_fw_aerodynamics to make the
1103 airframe work correctly. However, this breaks the 1101 airframe,
introducing sing errors there.
So, here the change in generate_fw_aerodynamics is reverted to the state
before PR #24175 . Instead, the signs are set correctly by using
the HIL_ACT_REV bitfield in the respective airframe config files.
* match control surface parameters to SIH model
2025-01-27 16:52:29 +01:00
d0042aa275
FW defaults: remove EKF2_GPS_CHECK custom FW setting
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We want to align the default over all vehicle types for
this param. There are still some thresholds that are
increased for FW.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-01-23 15:56:52 -05:00
chfriedrich98
chfriedrich98
amovlgf
Sergei Grichine
Alexander Lerach
Jacob Dahl
Pedro Roque
Balduin
Hamish Willee
Bastian Jäger
Roman Bapst
Matthias Grob
Silvan
Jacob Dahl
Beat Küng
Julian Oes
Andrew Wilkins
Alex Klimaj
Niklas Hauser
Balduin
Bertug Dilman