Saluki nxp93 wakeup #748

Signed-off-by: Silvan Fuhrer <[email protected]>

Pulls cell count, min voltage and max voltage from log file but still allows for over-rides. Also added debug info to tell user what what it found in the log and what it is using Co-authored-by: chfriedrich98 <[email protected]>

* reset position by fusion * handle local_pos_valid for fixed wing in gnss denied * [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding * global origin, also reset vertical pos without gps as ref * fix wo gnss, that bitcraze ci passes * revert some changes as requested * remove duplicate reset messages * undo unrelated whitespace changes, I'll fix it everywhere in a followup * [SQUASH] ekf2: add vehicle_command_ack * resetGlobalPosToExternalObservation consolidate logic * remove gnss check from local_pos validation check * reset when 0<accuracy<1, otherwise fuse * replace gps param with flag * ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected * subtract timeout from last inertial dead-reck, change fake pos conditions, save flash --------- Co-authored-by: Daniel Agar <[email protected]>

change how lat long is used for SIH

Mostly to save flash, but also to improve generally. Signed-off-by: Silvan Fuhrer <[email protected]>

* imxrt: Change PLL settings for more accurate dshot timing * Update NuttX submodule

Breaks CLion otherwise.

* lib: add FilteredDerivative class * AirspeedValidator: add first principle check - filters throttle, pitch and airspeed rate, and triggers if the airspeed rate is negative even though the vehicle is pitching down and giving high throttle. Check has to fail for duration defined by ASPD_FP_T_WINDOW to trigger an airspeed failure. * AirspeedValidator: define constants for first principle check * FilteredDerivative: set initialised to false if sample interval is invalid * airspeed_selector: improved comment * increase IAS derivative filter time constant from 4 to 5 * use legacy parameter handling for FW_PSP_OFF * handle FW_THR_MAX as well * ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them --------- Signed-off-by: Silvan Fuhrer <[email protected]> Signed-off-by: RomanBapst <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>

- remove fallthrough that enables flow regardless of success - add appropriate start messages for each case

- adjust flow sample gyro_rate immediately after popping from ring buffer - always update flow gyro bias (calcOptFlowBodyRateComp()) regardless of flow quality or magnitude

- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H - this is a relatively expensive call we can easily avoid with the right structure

- previously we could get stuck with optical flow still technically active (_control_status.flags.opt_flow=true), but nothing being updated due to excessive tilt, etc

- increase HALG limit from 75%->90% of sensor max

- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case

* estimator gps check fail flag for spoofing * warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion * dont introduce more GPS namings, GNSS instead * flash: exclude mantis for cuav_x7pro

- continue adding accel/gyro bias process noise even if inhibited

added return mode support, slew rates for actuators, new ackermann specific message, improved cornering slow down effect and fixed logging issue.

- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources

…ess than the interval time after boot (PX4#23384) * SubscriptionInterval: ensure _last_update is never before timer start

- gz in PX4/Firmware (2c3401d): PX4/PX4-gazebo-models@881558c - gz current upstream: PX4/PX4-gazebo-models@312cd00 - Changes: PX4/PX4-gazebo-models@881558c...312cd00 312cd00 2024-07-08 chfriedrich98 - Add rover ackermann model (#46)

This adds a build variant which enables the serial console, and therefore disables the ADSB receiver.

- avoid unnecessarily storing _ang_rate_delayed_raw

- I think this helps make it clear we're using a sensor sample corresponding with a particular IMU sample

…ng into buffer

* initial working * incoperated review

Saves 17.3 kilobytes of flash 😮

* 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

…X4#23397)

…uirements.txt

- additionally don't use flow for reset if magnitude isn't acceptable

…hicle_global_position)

- mavlink in PX4/Firmware (abcf9ca): mavlink/mavlink@da3223f - mavlink current upstream: mavlink/mavlink@d65952b - Changes: mavlink/mavlink@da3223f...d65952b d65952ba 2024-07-05 Peter Barker - common.xml: correct description of GLOBAL_POSIITON_INT.relative_alt frame (PX4#2131) 5fc2ff8e 2024-06-26 Hamish Willee - Add multiplier field to docs, if present (PX4#2125) a13d2317 2024-06-26 Roman Bapst - Added MAV_CMD_EXTERNAL_WIND_ESTIMATE to development (PX4#2122) d8af87fd 2024-06-19 jokalode - Update common.xml (PX4#2116)

…ght faiing - GNSS height control using the velocity sample directly is ignoring potential position offsets

…t failing

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.

…S->GNSS) Co-authored-by: Mathieu Bresciani <[email protected]>

- in the generated code there's a 1 / eps^2 term if the height and terrain estimates are the same

- fake_pos shouldn't update _time_last_hor_pos_fuse

- fake_hgt shouldn't update _time_last_hgt_fuse

… all states

- 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

- this is used for more than just mag

…23277) * added support for resetting wind states to external observation Signed-off-by: RomanBapst <[email protected]> * moved wind related functions into separate file Signed-off-by: RomanBapst <[email protected]> * added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE Signed-off-by: RomanBapst <[email protected]> * correctly compute variances Signed-off-by: RomanBapst <[email protected]> * ekf2: implement wind reset Signed-off-by: RomanBapst <[email protected]> * 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 <[email protected]> * 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 <[email protected]> Co-authored-by: Marco Hauswirth <[email protected]>

- extracted from monolithic drivers/rc_input which will eventually be dropped once all drivers migrated and boards updated

The wind variance can be reset to a value larger than the wind init variance (e.g.: when the reset occurs when flying close to the N or E axis). Constraining the variance after a covariance initialization would artificially increase the correlation and could destabilize the filter.

Signed-off-by: Silvan Fuhrer <[email protected]>

In some cases the vibration environment of the optical flow sensor is worse than near the autopilot.

Signed-off-by: Silvan Fuhrer <[email protected]>

…elay (PX4#23441) Signed-off-by: Silvan Fuhrer <[email protected]>

This filter is often not needed. Setting the default value to -1 makes it optional.

This was the case in older versions of PX4.

battery failures can occur upon arming when the load gets sgnificant. In that case the safest thing to do is prevent a takeoff before anything worse happens.

…perature

Don't run/initialize if number of battery cells is zero and reinitialize whenever this parameter changes.

…N_ALT Signed-off-by: Silvan Fuhrer <[email protected]>

Avoid flying into terrain using the distance sensor. Enable through the parameter NAV_MIN_GND_DIST. Only active during commanded descents with vz>0 (to prevent climb-aways), excluding landing and VTOL transitions. It changes the altitude setpoint in the triplet to maintain the current altitude and republish the triplet. We also change the mission item altitude used for acceptance calculations to prevent getting stuck in a loop. Signed-off-by: Silvan Fuhrer <[email protected]>

* Update Zenoh-pico from 0.7.0 to 1.0.0 * Update the zenoh-pico version to use PX4/dev/1.0.0-px4 * Remove the rostopic and rt/ prefix * Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.

We've come accross a case where a ROS node would consistently take something over 800 ms until the first arming check request subscription callback was triggered. After the first sample, the callback always triggered within the expected timeframe. Therefore this patch allows for more time right after registration until timing out.

…ce radius update (PX4#23478) * ackermann: add protection against float precision problem in acceptance radius update * ackermann: protect against divide-by-zero --------- Co-authored-by: Mathieu Bresciani <[email protected]>

which is up to date containing "Use SO_REUSEPORT only if it exists" and is advertised by GitHub because the commit is on a branch

…tation parser - the module documentation parser can only resolve defines from the same file - also it cannot deal with defines embeded in strings - what board should it add for the general documentation anyways? As a result of these issues I suggest to stay with the original hardcoded /fs/microsd for the documentation. It's still the most common path as far as I can see.

* gnss: update supported baud rates The Septentrio GNSS driver requires certain baud rates to test all the supported baud rates of the receiver. Without these changes, certain "non-standard" ones would print an error to the MAVLink console when the driver was started through the console. * platforms: add missing baudrate defines --------- Co-authored-by: Thomas Frans <[email protected]> Co-authored-by: Julian Oes <[email protected]>

…PX4#23464)

* differential: rename module * differential: restructure and update module

…#23460) Signed-off-by: Silvan Fuhrer <[email protected]>

… 2024 - sitl_gazebo-classic in PX4/Firmware (28a0de6): PX4/PX4-SITL_gazebo-classic@67431d2 - sitl_gazebo-classic current upstream: PX4/PX4-SITL_gazebo-classic@67af3c3 - Changes: PX4/PX4-SITL_gazebo-classic@67431d2...67af3c3 67af3c3 2024-07-18 Silvan Fuhrer - model/lidar: incrase range to 50m (PX4#1049)

- gz in PX4/Firmware (411a328): PX4/PX4-gazebo-models@312cd00 - gz current upstream: PX4/PX4-gazebo-models@536305a - Changes: PX4/PX4-gazebo-models@312cd00...536305a 536305a 2024-08-07 Claudio Chies - add world for collision prevention (#52) 36f49cb 2024-07-29 Stefano Colli - Add x500 with gimbal model (#47) 4ddfc13 2024-07-24 Jacob Dahl - Downward mono cam + aruco tag (#48)

This resets the USARTs' clock source selection to the default, in case it has been changed by the bootloader. This is required if booting from the ArduPilot bootloader which happens to reset the clock selection to PLL. Without this fix, UARTs (including the console) is garbled, so presumably at an invalid baudrate.

…o stick input

This information is duplicate to mission_result/mission_id. Signed-off-by: Silvan Fuhrer <[email protected]>

Signed-off-by: Silvan Fuhrer <[email protected]>

…hen landing Signed-off-by: Silvan Fuhrer <[email protected]>

… it's changed by stick

)

Note that in uORB we don't currently know if the aux fields are specifically valid or not so we can also not set the corresponding bits in the field.

Relaxed position is valid as long as a velocity aiding source is active (e.g.: optical flow or airspeed+sideslip)

This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.

…efault

* Remove euler angles from attitude setpoint message * Remove usage of euler angles in attitude setpoint messages This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages * Fix standard vtol

…23535)

Signed-off-by: Silvan Fuhrer <[email protected]>

… en-/disabled Signed-off-by: Silvan Fuhrer <[email protected]>

On ground the airspeed can sometimes be slightly negative but the ekf should still know that airspeed data is flowing regularly

…ching resume waypoint (PX4#23484) * Fix: replay the mission cached items only upon reaching resume waypoint * Refactoring Split camera mode mission items from gimbal ones so to have a finer control over the relative replays * Chore: fix formatting --------- Co-authored-by: Silvan Fuhrer <[email protected]>

If DRDY signal is used, the interrupt status needs to be cleared at FIFO reset in order to make DRDY go back inactive. Otherwise there won't be a falling edge interrupt at the next sample. Signed-off-by: Jukka Laitinen <[email protected]>

Disable I2C to make sure that the sensor doesn't switch to that by accident Signed-off-by: Jukka Laitinen <[email protected]>

As the sensor can directly report the amount of samples in the fifo, use it to simplify the logic. Also combine the fifo empty/fifo overflow checks for interrupt and polling modes. Signed-off-by: Jukka Laitinen <[email protected]>

not $(MAKE) help|list_config_targets, we should use $(MAKE) list_config_targets for the desired results.

feedback to commander

Removes unnecessary required fields

* Add Bosch BMM350 magnetometer * BMM350 replace info messages with debug messages * BMM350 update measurement interval * BMM350 fix offsets, update based on review * BMM350 Update default parameters to 50Hz * Update OTP Word LSB check * BMM350 fix styles and formatting * BMM350 update error checks

…n special cases Signed-off-by: Silvan Fuhrer <[email protected]>

…t is disabled (PX4#23556) COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY. Signed-off-by: Silvan Fuhrer <[email protected]>

Signed-off-by: Silvan Fuhrer <[email protected]>

This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes. Signed-off-by: Silvan Fuhrer <[email protected]>

* initial working * implemented feedback

PX4#23455) * Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter. * Fix formatting --------- Co-authored-by: jmackay2 <[email protected]>

improved GCS parameter description Co-authored-by: Hamish Willee <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>

…ce is advertised

Ubuntu 22.04 uses make 4.3 which broke the current `make help` target Reference: https://stackoverflow.com/a/26339924 Signed-off-by: Beniamino Pozzan <[email protected]>

…ilsitter. (PX4#23455)" (PX4#23583) This reverts commit 7e45f49. Co-authored-by: jmackay2 <[email protected]>

) * FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid * feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight * Apply suggestions from code review Co-authored-by: Silvan Fuhrer <[email protected]> * feasibilityCheckerTest: update tests to not fail for first waypoint check * feasibilityChecker: make comment for 1stwaypointcheck event * Feasibility check unit test: fix comment Signed-off-by: Silvan Fuhrer <[email protected]> --------- Signed-off-by: Silvan Fuhrer <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>

* ci: try runs-on Dronecode Infra * ci: comment on how to disable RunsOn * Update .github/workflows/build_all_targets.yml

* Update pab_manifest.c I have rebased on main and squash my commits into 1. * Update pab_manifest.c I have updated pab_manifest.c: // BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0 {HW_BASE_ID(0x150), base_configuration_0, arraySize(base_configuration_0)}, // ZeroOne Pixhawk Baseboard ver 0x150

…aw set to NaN

…ered (PX4#23578) It previously didn't catch switches to Descend from a manual mode, as both modes have navigation_mode_new=nullptr. Signed-off-by: Silvan Fuhrer <[email protected]>

…PX4#23569) For many failsafes, it is possible to select RTL and Land as actions. In this commit I synchronize the clear condition for these two action options, to always only clear on Disarm or manual mode change. Reasoning is that for the user RTL and Land is a similar action and I would thus expect them to be as similar as possible. And I in general would rather not clear a failsafe state instead of too often clearing it. Example: GF failsafe with action Land --> even if the drone is marginally within the GF again, I want it to proceed with the Landing unless I manually intervene. Signed-off-by: Silvan Fuhrer <[email protected]>

… account (PX4#23566) * vtol adjust landing setpoint * improve comment Co-authored-by: Silvan Fuhrer <[email protected]> --------- Co-authored-by: Silvan Fuhrer <[email protected]>

This is similar to fake pos but is only used when the ekf has an external information telling it that the vehicle is not changing position. This information can then be used to keep a valid local position even when the vehicle isn't exactly at rest.

- keeps them as local params at init - only allow to set at init

- default to v0.0.0 if tag isn't available - src/lib/px_update_git_header.py use same PX4_GIT_TAG as cmake - update lingering master branch references to main

Co-authored-by: your-sudden-death <[email protected]>

Co-authored-by: Marco Hauswirth <[email protected]>

…F to 40 To get some breathing space on setups with memory-intensive components (e.g. UAVCAN). Signed-off-by: Silvan Fuhrer <[email protected]>

…nk (NuttX only)

…ce start is changed in actuator yaml files they parameters are able to be used (PX4#23616) Co-authored-by: Luca Scheuer <[email protected]>

The indexing was wrong for esc_status sending for ESCs 4-> Signed-off-by: Jukka Laitinen <[email protected]>

)

Commits on Aug 17, 2024

Fixes upload.sh for arkv6x (PX4#23561 )

Viliuks authored Aug 17, 2024

Configuration menu

View commit details

Copy full SHA for ea0ef15

Browse repository at this point

Copy the full SHA

ea0ef15 View commit details

Browse the repository at this point in the history

Saluki nxp93 wakeup #748

Saluki nxp93 wakeup #748

Commits on Jul 3, 2024

Commits on Jul 4, 2024

Commits on Jul 5, 2024

Commits on Jul 7, 2024

Commits on Jul 8, 2024

Commits on Jul 9, 2024

Commits on Jul 10, 2024

Commits on Jul 11, 2024

Commits on Jul 12, 2024

Commits on Jul 14, 2024

Commits on Jul 15, 2024

Commits on Jul 16, 2024

Commits on Jul 17, 2024

Commits on Jul 18, 2024

Commits on Jul 19, 2024

Commits on Jul 22, 2024

Commits on Jul 24, 2024

Commits on Jul 25, 2024

Commits on Jul 26, 2024

Commits on Jul 29, 2024

Commits on Jul 30, 2024

Commits on Aug 2, 2024

Commits on Aug 5, 2024

Commits on Aug 6, 2024

Commits on Aug 7, 2024

Commits on Aug 8, 2024

Commits on Aug 9, 2024

Commits on Aug 12, 2024

Commits on Aug 13, 2024

Commits on Aug 14, 2024

Commits on Aug 15, 2024

Commits on Aug 16, 2024

Commits on Aug 17, 2024

Commits on Aug 19, 2024

Commits on Aug 20, 2024

Commits on Aug 21, 2024

Commits on Aug 22, 2024

Commits on Aug 23, 2024

Commits on Aug 24, 2024

Commits on Aug 26, 2024

Commits on Aug 27, 2024