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Fixedwing updates: Calibrate MAG, replay SD-log, Set WP (#3486)

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This commit is contained in:
Christophe De Wagter
2025-06-25 12:36:48 +02:00
committed by GitHub
parent 4b6c185516
commit e34b42cd7f
3 changed files with 33 additions and 0 deletions
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conf/telemetry/default_fixedwing.xml
+1
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@@ -70,6 +70,7 @@
<message name="BARO_RAW" period="0.5"/>
<message name="IMU_GYRO_RAW" period="0.1"/>
<message name="AIRSPEED_RAW" period="0.5"/>
<message name="IMU_MAG_RAW" period="0.5"/>
</mode>
</process>
<process name="Fbw">
conf/telemetry/fixedwing_flight_recorder.xml
+19
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@@ -119,6 +119,7 @@
<mode name="default">
<message name="ENERGY" period="0.5"/>
<message name="GPS" period="0.2"/>
<message name="GPS_SOL" period="0.5"/>
<message name="ATTITUDE" period="0.05"/>
<message name="DESIRED" period="0.05"/>
<message name="IMU_ACCEL" period=".02"/>
@@ -128,6 +129,7 @@
<message name="AOA" period="0.05"/>
<message name="RC" period="0.05"/>
<message name="COMMANDS" period="0.05"/>
<message name="ESTIMATOR" period="0.05"/>
<message name="ACTUATORS" period="0.05"/>
<message name="PPRZ_MODE" period="1.0"/>
<message name="FBW_STATUS" period="1.0"/>
@@ -136,6 +138,23 @@
<message name="ESC" period="0.1"/>
<message name="ADC_GENERIC" period="0.05"/>
<message name="WIND_INFO_RET" period="0.1"/>
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="AIRSPEED" period="1"/>
<message name="ALIVE" period="5.1"/>
<message name="WP_MOVED" period="0.5"/>
<message name="CIRCLE" period="1.05"/>
<message name="WP_MOVED" period="0.5"/>
<message name="SEGMENT" period="1.2"/>
<message name="NAVIGATION_REF" period="9."/>
</mode>
</process>
<process name="Mavlink" type="mavlink">
<mode name="default">
<message name="HEARTBEAT" period="0.5"/>
<message name="SYSTEM_TIME" period="0.2"/>
<message name="SYS_STATUS" period="0.2"/>
<message name="GPS_RAW_INT" period="0.05"/>
<message name="ATTITUDE" period="0.02"/>
</mode>
</process>
</telemetry>
sw/airborne/modules/nav/common_nav.h
+13
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@@ -84,6 +84,13 @@ extern float get_time_to_home(void); /* estimated time to home point in seconds
false; \
})
#define NavSetWaypointHereSend(_wp) ({ \
waypoints[_wp].x = stateGetPositionEnu_f()->x; \
waypoints[_wp].y = stateGetPositionEnu_f()->y; \
RunOnceEvery(NAVIGATION_FREQUENCY/1, {nav_send_waypoint(_wp);}) \
false; \
})
#define NavSetWaypointPosAndAltHere(_wp) ({ \
waypoints[_wp].x = stateGetPositionEnu_f()->x; \
waypoints[_wp].y = stateGetPositionEnu_f()->y; \
@@ -91,4 +98,10 @@ extern float get_time_to_home(void); /* estimated time to home point in seconds
false; \
})
#define NavSetWaypointDistBehind(_wp, _ref, dist) ({ \
waypoints[_wp].x = waypoints[_ref].x - dist*sin(stateGetNedToBodyEulers_f()->psi); \
waypoints[_wp].y = waypoints[_ref].y - dist*cos(stateGetNedToBodyEulers_f()->psi); \
false; \
})
#endif /* COMMON_NAV_H */