27e59d9db5
[guided] support full ref update in guided mode ( #3502 )
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New message can set position, speed, acceleration and heading setpoint
for an accurate trajectory tracking.
Also fix the update of ref when h_ref is disabled.
2025-07-21 16:21:44 +02:00
c4bd14098e
Update control effectiveness script ( #3501 )
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* update control effectiveness script for new matrix format
* add a config file example for a quadcopter
- full indi
- no G2 vector
- new output format
2025-07-18 15:34:54 +02:00
9c2206f6a4
[can fuelcell] use DSDL definition ( #3505 )
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-07-16 10:18:57 +02:00
63760813f5
fix imu debug ( #3503 )
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-07-11 23:08:14 +02:00
94cd1c1cf4
[fix] fix type error introduced by #3498
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2025-07-10 21:11:02 +02:00
f4279c86ee
Fix parameter needed left out after I2C refactor ( #3500 )
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2025-07-07 22:11:17 +02:00
90a5f285c6
Fix warning of nested extern declaration of fn get_sys_time_float ( #3499 )
2025-07-07 22:07:48 +02:00
0d9a3a1402
Wait for shaking to take-off ( #3487 )
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* Wait for shaking to take-off
* Update sw/airborne/modules/nav/nav_shakestart.c
* Use Shake-Start in Flightplan
* Remove disable-GPS, ahrsAligned, DSM_On/Off, Wind
* fix make tests
2025-07-07 10:15:56 +02:00
6497ecf431
[fix] don't use pointer cast to switch from Vect3 to Coor structures ( #3498 )
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It seems to be an undefined behavior and should be avoided.
2025-07-04 16:53:50 +02:00
378d7f02be
[ins] cleaning of external pose INS ( #3497 )
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- refactor some code
- more configurable
- reduce the number of lines with values set to 0 (replaced by memset)
- fix state update (pointer cast this way is undefined behavior)
2025-07-04 11:26:52 +02:00
834a420e9c
Current compensation code is removed so these defines don't do anything anymore. ( #3496 )
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2025-07-03 22:43:58 +02:00
8511252b9b
[rotwing] TU Delft new and repaired airframes ( #3450 )
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* rotwing airframe files v3i-k and conf
update repaired rotwing drones v3d an v3e
turn calc asml baro to true for all rotwing airframes
* remove old magneto calib v3d and v3e
* v3e flown in VB
* update imu filter v3i and v3j
turn off highspeed logging imu
calib all accelero on v3j
add all 3 imu filters v3j
* v3d all imu calibrations
v3d magneto calib
* turn off pfc debug, rotwing put air_data defines in common airframe file
* add magneto rotation for i,j,d
* merge with master
* rotwing airframe files v3i-k and conf
update repaired rotwing drones v3d an v3e
turn calc asml baro to true for all rotwing airframes
* try cube imu 1 on v3d
* pull some things from v3b
* small change in rotwing liftd eff scheduling
* re-do v3j magneto calibration
* v3e magneto rotation
* fix consistency of defines
* revert changes eff scheduling
* make compatible with rebase
2025-07-03 17:47:08 +02:00
03c2547a34
[rotwing] make setup for demo's simpler ( #3475 )
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* rotwing demo module and remove rotwing effectiveness RC switch
* fix small mistake
* fix small logic error
* fix RC switch range
* make skew values customizable
* small cleanup
* remove rotwing_demo module and replace by flight plan WIP
* rotwing move some settings back to individual airframes
* some changes
* choose a different ac id for demo drone
2025-07-03 17:15:09 +02:00
0c60967b3b
Small fix for airspeed consistency checks ( #3494 )
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* fix warning snprintf for AP and add check for norm in circfit
* make norm cutoff configurable
* Iteration counter overrule fix + different name for forloops and iterations
* insert missing comma
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com >
2025-07-02 16:21:47 +02:00
b4ed21ae1e
[imu] fix some bugs introduced with imu float refactor ( #3495 )
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* imu cube fix too many inputs for set defaults
* fix signs, replace FloatVect3 by FloatRates for gyros
* fix nps
2025-07-02 13:45:50 +02:00
8a226b2ce3
register periodic messages with 16 bit ID - e.g. Mavlink ( #3482 )
2025-07-02 10:13:14 +02:00
07558af7a2
Airspeed consistency check with onboard wind estimation ( #3478 )
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* initial commit airspeed consistency check module
* small edit
* address comments
* use INFO_MSG for airspeed consistency module
2025-07-01 10:07:35 +02:00
b7aad07a04
Activate barometric altitude in fixedwing Disco ( #3480 )
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* Activate barometric altitude in fixedwing Disco
* Define not in NPS
* Replaced board by sensor driver...
* Fix with drone
* MAG Feedback in AHRS_DSM_FLOAT tested extensively.
2025-06-27 18:11:54 +02:00
b91239f7b5
[uart] use buffer write function for ChibiOS uart driver ( #3491 )
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This way is about 10 times faster than using a for loop with single byte put function.
2025-06-27 11:39:03 +02:00
06c0b2f4ed
Segmentation Fault: NULL->llh ( #3484 )
2025-06-26 09:14:16 +02:00
c1203b04e8
[pprzlink] update pprzlink for the latest changes and corrections ( #3489 )
2025-06-26 09:02:21 +02:00
8190003f56
[tawakiV2] Fix I2C configuration ( #3490 )
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-06-25 17:14:48 +02:00
4df4c8436b
Imu scale float ( #3477 )
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* [imu] Use floats for scaling
* [imu] default scales float
* [imu] update comments
* Fix print function
* [imu] fix calibration
* [imu] calibration in float
* [imu] remove old calibration generation.
compilation error if IMU_IMU_ACCEL_CALIB is defined.
* remove static operations
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr >
* clarify scales
---------
Co-authored-by: Fabien-B <Fabien-B@github.com >
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr >
2025-06-25 13:27:53 +02:00
993198a418
Disable power-down interupt in SD-logger code ( #3481 )
2025-06-25 12:37:49 +02:00
e34b42cd7f
Fixedwing updates: Calibrate MAG, replay SD-log, Set WP ( #3486 )
2025-06-25 12:36:48 +02:00
4b6c185516
[hybrid] add basic support for Heewing T1 Ranger VTOL ( #3464 )
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The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach,
two separated controls are used for hovering (INDI) and forward flight
(PID). The mixing is done by a dedicated module and the autopilot is
customized to support the specific modes.
A simple PID controller is added to the rotorcraft firmware as it is not
possible to directly reuse the one from fixedwing firmware.
In a future work, a full INDI version might be used, but this approach
can still serves as an example of customized autopilot.
A simulation model for JSBSim is also provided.
2025-06-24 15:02:36 +02:00
982c6947a3
Threads I2C and SPI ( #3471 )
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* [threads] Add binary semaphore timeout wait.
* [i2c] Update blocking functions to be RTOS aware.
* [SHT25] Refactor SHT25 driver as threaded I2C example.
* [spi] Update blocking function to be RTOS aware.
* [AMT22] add AMT22 driver using SPI blocking mode.
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-06-23 20:08:33 +02:00
486ae432e1
[uavcan] Use CAN abstraction ( #3440 )
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* [CAN] timestamp in us, and fix typo
* [uavcan] Use CAN abstraction
* [CAN] Add missing can2.
* [WIP] CAN error handling
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-06-23 15:02:17 +02:00
3a6ea80f57
[generator] servo command_value floating point ( #3476 )
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-06-23 11:28:55 +02:00
3f7bc48507
AHRS_DCM_FLOAT fix heading: export has 180deg error, du to sign error in correction, so the align is always 180deg wrong ( #3470 )
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2025-06-17 22:21:06 +02:00
6370ff488b
[calib] implement the calibration button for mag_viewer ( #3472 )
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2025-06-17 17:21:27 +02:00
ab21964c1a
Mag viewer ( #3465 )
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* [supervision] Add raw mag viewer tool
* [supervision] mag viewer improvements
* [supervision] organize utilities with tabs
* [supervision] MagViewer: do not normalize data, and adjust view size automatically
* [supervision] MagViewer: prepare calibration
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Co-authored-by: Fabien-B <Fabien-B@github.com >
2025-06-16 13:01:03 +02:00
587b35eada
[conf] TUDelft Remove duplicate define and remove accidentally added v3i-v3k airframes ( #3469 )
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2025-06-16 12:00:29 +02:00
65de23341e
[build] fix compilation warnings and remove unused code ( #3468 )
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Some code from base64 module in ocaml is deprecated but is only used by
the outdated tool broadcaster. Better remove them.
2025-06-12 11:21:23 +02:00
942efae9b0
Fix the warning for MilliAmpereOfAdc(adc) re-defined ( #3467 )
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2025-06-09 16:21:53 +02:00
e7273bda38
[mission] add an option to skip the first GOTO in mission PATH ( #3463 )
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Going a GOTO can be problematic with hybrid aircraft when the flight
mode is different between a simple goto (hover) and a route (forward).
2025-06-04 22:42:30 +02:00
06a0542090
[nav] add an option for takeoff height ( #3462 )
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Add a parameter to the takeoff function to specify the height at which the takeoff is considered finished.
A negative value tells that the default value (configurable from airframe file) should be used.
Update demo FP
2025-06-04 22:41:41 +02:00
12586a6811
[nav] navigation around poles for rotorcraft and hybrids ( #3461 )
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Also support mission mode
2025-06-04 22:40:56 +02:00
6b06dbfa3a
[conf] Update rotating wing 25kg ( #3455 )
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* [conf] Update rotating wing 25kg
* [conf] Add easystar 3
* [conf] Update rotating wing 25kg
* Fix ID's
* Less changes
* Test
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Co-authored-by: Christophe De Wagter <dewagter@gmail.com >
2025-06-03 13:25:15 +02:00
92531947d6
update jsbsim wmm ( #3458 )
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2025-05-26 13:49:17 +02:00
41af189540
[chibios] Fix SPI driver for STM32F7xx ( #3457 )
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2025-05-21 19:59:28 +02:00
b6d1ca99ab
WMM module updated to 2025 data ( #3456 )
2025-05-20 18:26:22 +02:00
4ee8e5e1b9
[gvf] Refactor GVF module framework, add GVF_IK, fix bugs, and provide full example config ( #3451 )
2025-05-16 22:00:28 +02:00
f19834aaa7
[rotwing] Fly back to standby in fixed wing. Gih add setters for max bank, climb, and descend speed ( #3452 )
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2025-04-29 13:00:28 +02:00
4aa83b108f
Rotorcraft static ap add option to use failsafe throttle setting ( #3453 )
2025-04-29 12:59:11 +02:00
c18137ac49
[airspeed] fix auto offset for SDP3X driver ( #3448 )
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2025-04-04 16:52:21 +02:00
6f7342fdd8
[fix] utm coord was not initialized in landing module for FW ( #3445 )
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Also
- kill throttle after landing
- add module takoff/land to demo mission flight plan
2025-04-01 18:39:10 +02:00
33ebce980a
Add betafpv AIO and tmotor AIO ( #3413 )
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Co-authored-by: Florian Sansou <florian.sansou@enac.fr >
2025-04-01 12:53:08 +02:00
56a0f850e6
[ahrs] fix name of the setting handler to match the XML description ( #3446 )
2025-04-01 12:48:52 +02:00
a7af05cc2f
[ins] Properly initialize utm0 altitude in ins_alt_float ( #3443 )
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2025-03-28 10:57:04 +01:00
Gautier Hattenberger
Fabien-B
OpenUAS
Christophe De Wagter
NoahWe
Freek van Tienen
Jesús Bautista Villar
Florian Sansou