f8bebd9e41
ackermann: implement pure pursuit lib
2024-07-19 14:43:40 +02:00
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
7f14110bb1
Fix missing newlines at the end of files
2024-07-19 14:33:36 +02:00
fe3cd4b0cb
Add check for missing or duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
1b9f1b78e5
Added support for resetting wind states to external observation ( #23277 )
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* added support for resetting wind states to external observation
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* moved wind related functions into separate file
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* correctly compute variances
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* ekf2: implement wind reset
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind
Signed-off-by: RomanBapst <bapstroman@gmail.com >
* only reset wind on ground
* still use wind reset using airspeed when it wasn't initialized
* exclude func for rover, change reset interface
* handle wind reset in drag-fusion
* replace state reset with variance reset in sideslip/drag fusion
* remove resetWind function
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com >
2024-07-19 14:33:08 +02:00
ca9948a84d
msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio
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- this is used for more than just mag
2024-07-18 16:39:18 +02:00
eac14b7db2
ekf2/commander: simplify navigation filter preflight checks
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- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
- these are effectively redundant with the actual tuning (noise & gate)
in the estimator, plus most users have no idea why they'd be
adjusting these other than to silence an annoying preflight complaint
- remove ekf2 "PreFlightChecker" with hard coded innovation limits
- ekf2 preflight innovation flags are now simply if any active source
exceeds half the limit preflight
2024-07-18 16:39:18 +02:00
a42dc2165c
add pure pursuit library
2024-07-18 13:25:05 +02:00
08c790217d
battery: increase max value for battery thresholds
2024-07-18 09:46:58 +02:00
5083ec52ec
battery: migrate parameters in .c file to .yaml file
2024-07-18 09:46:58 +02:00
f8f8ddc101
ekf2: optical flow update last hor vel timestamp on success
2024-07-17 14:46:48 -04:00
691fdf713c
ekf2: airspeed update last hor vel timestamp if successfully updating all states
2024-07-17 14:46:48 -04:00
57c1ba545f
ekf2: fake_hgt don't use fuseVerticalPosition helper
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- fake_hgt shouldn't update _time_last_hgt_fuse
2024-07-17 14:46:48 -04:00
6fe0fa6d63
ekf2: fake_pos don't use fuseHorizontalPosition helper
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- fake_pos shouldn't update _time_last_hor_pos_fuse
2024-07-17 14:46:48 -04:00
c5c27a87f1
ekf2: track last terrain fuse time and update logic
2024-07-17 10:16:32 -04:00
8c4620b77e
battery: simplify battery scale calculation ( #23417 )
2024-07-17 12:22:52 +02:00
81575049df
ekf2: reword EKF2_GPS_CHECK param
2024-07-16 10:15:19 -04:00
f832ae688d
ekf2: require valid filter vz for GPS vspeed check
2024-07-16 10:15:19 -04:00
20c0d3a096
ekf2: enable all GNSS checks by default
2024-07-16 10:15:19 -04:00
b48aca10a0
mc_position_control: avoid calculating arw if not needed
2024-07-16 13:30:40 +02:00
397ff4a102
ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues
2024-07-16 11:10:58 +02:00
13b62a74d6
ekf2: optical flow adjust jacobian epsilon to avoid numerical issues
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- in the generated code there's a 1 / eps^2 term if the height and
terrain estimates are the same
2024-07-16 11:10:58 +02:00
76cf54c948
adapted UORB Description to match MAVLink
2024-07-16 11:07:03 +02:00
aa8a9e3a06
laser scan subscription optional
2024-07-16 11:07:03 +02:00
fe5a07a96d
gz: added x500_lidar model for publishing obstacle_distance
2024-07-16 11:07:03 +02:00
48f1687d3a
ekf2: cleanup legacy EKF solution_status_flags
2024-07-16 10:11:27 +02:00
1cd7d54170
ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-07-15 12:50:51 -04:00
9d6c2baa90
ekf2-flow: only allow flow when in range
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Also, as the flow makes the link between range and horizontal velocity,
only allow it to start if at least one of the two is known. Otherwise
the EKF will struggle to estimate both values at the same time.
2024-07-15 11:40:33 -04:00
8e5f28f834
ekf2: rng only reset vz as a last resort
2024-07-15 11:39:56 -04:00
80ee622f77
ekf2: baro only reset vz as a last resort
2024-07-15 11:39:56 -04:00
40349fa3dc
ekf2: EV velocity control should own vertical velocity reset if height failing
2024-07-15 11:39:56 -04:00
177613eb68
ekf2: GNSS velocity control should own vertical velocity reset if height faiing
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- GNSS height control using the velocity sample directly is ignoring
potential position offsets
2024-07-15 11:39:56 -04:00
9bbfc8715e
Update submodule mavlink to latest Mon Jul 15 12:39:00 UTC 2024
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- mavlink in PX4/Firmware (abcf9ca6f0aadc91b203342db689f07630ec0e3a): https://github.com/mavlink/mavlink/commit/da3223ff9380bfe8e496fab8df2cbb06d5f8d5c3
- mavlink current upstream: https://github.com/mavlink/mavlink/commit/d65952bacc02c4a5a1ed8249be73e6a66fa800ab
- Changes: https://github.com/mavlink/mavlink/compare/da3223ff9380bfe8e496fab8df2cbb06d5f8d5c3...d65952bacc02c4a5a1ed8249be73e6a66fa800ab
d65952ba 2024-07-05 Peter Barker - common.xml: correct description of GLOBAL_POSIITON_INT.relative_alt frame (#2131 )
5fc2ff8e 2024-06-26 Hamish Willee - Add multiplier field to docs, if present (#2125 )
a13d2317 2024-06-26 Roman Bapst - Added MAV_CMD_EXTERNAL_WIND_ESTIMATE to development (#2122 )
d8af87fd 2024-06-19 jokalode - Update common.xml (#2116 )
2024-07-15 11:18:19 -04:00
e03aef616c
ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position)
2024-07-15 10:25:42 -04:00
a5a67315fd
ekf2: optical flow magnitude check compensated
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- additionally don't use flow for reset if magnitude isn't acceptable
2024-07-15 09:46:59 -04:00
be551097e0
mc_wind_estimator_tuning: Changed Quaternion package installed by requirements.txt
2024-07-15 11:40:12 +02:00
dc5f8118b0
ekf2: range finder cleanup duplicate logic
2024-07-15 11:37:36 +02:00
59b96f4968
tecs: fast descend: do not shut down throttle while still climbing ( #23397 )
2024-07-15 10:42:43 +02:00
b1b0032b8d
BMP581: Add Bosch BMP581 barometer ( #23064 )
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* BMP581: Add Bosch BMP581 barometer
* Copyright：fix copyright header year
* style: not use pointers and Bool returns, Check the failed condition return
* delay: Replace usleep() with ScheduleDelayed()
* definitions: Delete unused definitions
* comment: Delet redundant comments
* constants: Change to uppercase
* BMP581: run make format
2024-07-14 14:08:20 -08:00
e2b31454a3
SubscriptionInterval: move updated, update, copy function to a cpp file
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Saves 17.3 kilobytes of flash 😮
2024-07-12 23:26:24 +02:00
33be5d8356
Survey - fix of survey tracking problem on steep slopes ( #23371 )
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* initial working
* incoperated review
2024-07-11 14:54:22 +02:00
9124a7b471
ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer
2024-07-10 21:20:47 -04:00
ac77049c47
ekf2: directly use IMU sample to find corresponding aid source sample
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- I think this helps make it clear we're using a sensor sample
corresponding with a particular IMU sample
2024-07-10 21:20:47 -04:00
f93dc61770
ekf2: use bias corrected angular velocity
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- avoid unnecessarily storing _ang_rate_delayed_raw
2024-07-10 21:20:47 -04:00
20137bea40
boards: add console build for Cube Orange(+)
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This adds a build variant which enables the serial console, and
therefore disables the ADSB receiver.
2024-07-10 21:14:08 -04:00
57e303b11b
bugfix for failing actions
2024-07-10 21:12:55 -04:00
e0ea91fc27
Update submodule gz to latest Thu Jul 11 00:39:09 UTC 2024
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- gz in PX4/Firmware (2c3401dc83https://github.com/PX4/PX4-gazebo-models/commit/881558c8c274d0d9f21970de24333122e050b561
- gz current upstream: https://github.com/PX4/PX4-gazebo-models/commit/312cd002ff9602644efef58eef93e447c10dcbe8
- Changes: https://github.com/PX4/PX4-gazebo-models/compare/881558c8c274d0d9f21970de24333122e050b561...312cd002ff9602644efef58eef93e447c10dcbe8
312cd00 2024-07-08 chfriedrich98 - Add rover ackermann model (#46 )
2024-07-10 21:05:57 -04:00
c391509c23
ackermann: add SITL airframe
2024-07-10 21:04:59 -04:00
2c3401dc83
uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot ( #23384 )
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* SubscriptionInterval: ensure _last_update is never before timer start
2024-07-10 12:43:31 -04:00
75bb339d94
ekf2: remove warning events logging
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- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
2024-07-10 10:43:55 -04:00
chfriedrich98
Matthias Grob
Roman Bapst
Daniel Agar
chfriedrich98
bresch
bazooka joe
Claudio Chies
Jacob Dahl
PX4 BuildBot
Boris
KonradRudin
Liu1
Julian Oes