| 文件 | 最后提交记录 | 最后更新时间 |
|---|---|---|
feat(params): update max values for various parameters (#27002) | 6 个月前 | |
AirspeedSelector: add synthetic airspeed option Synthetic airspeed is calculated based on the thrust setpoint and the thrust<->airpseed model as configured in the parameters. | 1 年前 | |
Add missing newline at the end of files | 2 年前 | |
fix(battery): Add invalid sentinel for BatteryStatus remaining_capacity_wh and nominal_voltage (#27236) | 5 个月前 | |
change pairing LED feedback to 20 fast flashes of white | 2 年前 | |
fix(CDev): Fix clang-tidy error "bugprone-dynamic-static-initializers" (#27570) Replace static fops member with platform-defined fops_ref() accessor to avoid bugprone-dynamic-static-initializers warning. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> | 4 个月前 | |
IDL 2 RIHS01 remove tempfile and print | 1 年前 | |
refactor(lib/circuit_breaker): convert params.c to module.yaml Convert 1 parameter file(s) from legacy C format to YAML module configuration. | 6 个月前 | |
refactor(collision_prevention): Remove loop in _checkSetpointDirectionFeasability() (#26856) * Refactor feasibility check for setpoint direction * Add check for out of bounds index * Formatting | 6 个月前 | |
Fix generate component regex escape sequence | 1 年前 | |
feat(control_allocator): allow overriding tiltrotor collective tilt - Expose overrideCollectiveTilt in ActuatorEffectiveness, empty base, only overridden for Tiltrotor - Allow giving collective tilt that is used in updateSetpoint in place of command from tiltrotor_extra_controls - Needs to be called with do_override = false to clear override - add comment explaining technical debt | 4 个月前 | |
fix(ci): enable clang-tidy misc-header-include-cycle Signed-off-by: kuralme <kuralme@protonmail.com> | 5 个月前 | |
Un-inlined rotate_3 | 1 年前 | |
initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) - new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package | 3 年前 | |
crypto: define XMALLOC & XFREE for sw_crypto Use the same memory allocation in sw_crypto driver as what is used in src/lib/crypto libraries In addition, in nuttx protected build, allocate all memory from kernel heap Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae> | 4 年前 | |
fix(dataman_client): fail fast when dataman is unavailable (#26652) * fix(dataman_client): fail fast when dataman is unavailable Check client_id before every DatamanClient operation to avoid waiting for a response timeout when dataman was never running. - Adds CLIENT_ID_NOT_SET guard to all sync and async methods - Avoids cross-module linkage between dataman_client lib and dataman module Supersedes #26128 * better init | 7 个月前 | |
fix(drivers/device): make I2C::init() idempotent (#27352) A successful I2C::init() attaches to the bus (per-platform: NuttX i2c_master_s* via px4_i2cbus_initialize, POSIX /dev/i2c-N fd via ::open, QuRT bus fd via _config_i2c_bus). Only the destructor releases it. The init() implementations on all three platforms unconditionally re-attached on every call, so any driver that called init() more than once on the same instance leaked: - NuttX: kmm_malloc() of a fresh i2c_master_s inst, plus an unbalanced increment of the per-port refcount in stm32_i2cbus_initialize() (and the equivalent across other arch ports). The previous inst pointer was overwritten and the matching uninitialize() never ran, so the bus refcount could not reach zero on destruct. - POSIX/QuRT: file descriptor leak (re-open without close). The pattern that triggers this is "init() retried on failure," used in keep_running mode and in drivers like INA228 whose RunImpl re-enters init() whenever a later step (e.g. a register write) failed. Drivers that init() exactly once from instantiate() were unaffected. Mirror what SPI::init() (nuttx/SPI.cpp) already does for its bus-bind step and short-circuit on second-and-later calls. Re-running probe() and CDev::init() on an already-attached device was also avoided here because the existing cleanup path on probe failure would tear down the preserved _dev that earlier callers still depended on. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> | 4 个月前 | |
feat(navigator): add Guided Course mode for fixed-wing Implements a new GUIDED_COURSE navigator mode that maintains a constant ground-track bearing, altitude, and airspeed without manual stick input. The mode is activated via MAVLink and accepts real-time in-flight updates: - MAV_CMD_GUIDED_CHANGE_HEADING (HEADING_TYPE_COURSE_OVER_GROUND): set course - MAV_CMD_DO_CHANGE_ALTITUDE: adjust target altitude - MAV_CMD_DO_CHANGE_SPEED: adjust target airspeed On activation the vehicle captures its current velocity vector as the initial course bearing. A valid horizontal velocity estimate (GPS or dead-reckoning) is required; course commands are rejected if unavailable. | 4 个月前 | |
FieldSensorBiasEst: fix bias learning equation Also compensate the tuned learning gains for the new equation to keep the same tuning | 4 年前 | |
feat(fw_perf_model): Warn in FW_R_LIM is infeasible due to empty airspeed range (#27547) * feat(fw_perf_model): warn in max bank infeasible due to empty airspeed range * style(fw_perf_model): refer explicitly to max airspeed param and only implicitly to max bank, so users will be inclined to adjust the former. * docs(fw-tuning): add section on roll compensation and effect on airspeed limits * docs(fw-tuning): fix LaTeX - wrap text in \text{} so it does not render as if it were variable names - fix incorrect double escaping which made \sqrt{} and \frac{} not render - replace \over with \frac - the latter is nicer and handles more edge cases * docs(fw-tuning): fix typo In the above equation (supposed to be rearranged) there is only C_L, no C_D. * docs(fw-tuning): correct mistake only stall and min airspeed are load factor (due to bank) compensated in the performance model, not trim. | 4 个月前 | |
geo: remove dependency on drv_hrt time driver | 1 年前 | |
feat(mavlink): reassemble GPS_RTCM_DATA before GPS injection (#27084) * mavlink: reassemble GPS_RTCM_DATA before GPS injection * Apply minor comment requested changes * Simplification: remove _completed_sequence asymetric protection * Handle RTCM payload length which is an exact multiple of 180 * update docs * lib gnss: new GpsRtcmMessageFragmenter to send RTCM via GPS_RTCM_DATA.hpp * fix clang * Remove RTCM fragmenter * update docs * Compatibility fallback for older QGroundControl builds that omit the final zero-length fragment * mavlink receiver, remove while loop to avoid dead lock * docs(update): Subedit Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * docs(docs): format --------- Co-authored-by: jonas <jonas.perolini@rigi.tech> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> | 4 个月前 | |
Fix duplicate newlines at the end of files | 2 年前 | |
Hysteresis: enable initializing arrays with default constructor initial state false | 9 个月前 | |
feat(ekf2): add ranging beacon fusion support - Add Symforce-derivation - No altitude correction - EKF2 replay - New params | 6 个月前 | |
refactor(lib/led): convert params.c to module.yaml Convert 1 parameter file(s) from legacy C format to YAML module configuration. | 6 个月前 | |
fix(mathlib): rename euler312YawTest to match tested function (#26753) * fix(mathlib): rename euler312YawTest to match tested function The test calls getEuler321Yaw() but was named euler312YawTest. Fixes #22103 * test(mathlib): add unit test for getEuler312Yaw The existing test was named euler312YawTest but actually tested getEuler321Yaw. Rename it and add a proper test for getEuler312Yaw that verifies the quaternion and DCM overloads agree, and that 312 and 321 yaw match for a pure-yaw rotation. Fixes #22103 | 6 个月前 | |
fix(CI): Prerequisites for nuttx update (#27509) * src/drivers/cdcacm_autostart: Include posix.h for px4_close Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * platforms/nuttx/CMakeLists.txt: Fix linking of nuttx libaries for memalign This fixes memalign not found in linking step for some boards Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * Add "flock" to macos.sh setup script "flock" is not standard on macOS, and a dependency was missing from the macOS setup path. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * Fix clang-tidy errors in Bitset.hpp and in src/lib/matrix Fix the "bugprone-dynamic-static-initializers" linter errors. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * systemlib/hardfault_log: Fix clang-diagnostics error Fix for "[error] clang-diagnostic-error [error] use of undeclared identifier XCPTCONTEXT_REGS". XCPTCONTEXT_REGS is defined in nuttx irq.h, so include that. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * uORB: Fix clang-tidy error "bugprone-dynamic-static-initializers" Fix the clang-tidy error appearing on uORBManager _Instance variable by adding a getter for the reference to the _Instance and using that instead. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * CI: Add default ubuntu mirrors as fallback In case of specified aws mirror doesn't have the package idicated by the metadata, a the default ubuntu mirror as a backup. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> --------- Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> | 4 个月前 | |
Fix duplicate newlines at the end of files | 2 年前 | |
feat(actuators): increase servo channel count from 8 to 15 Bumps NUM_CONTROLS/MAX_ACTUATORS from 8 to 15 across all layers. Signed-off-by: alexcekay <alexander@auterion.com> | 4 个月前 | |
feat(navigator): add Guided Course mode for fixed-wing Implements a new GUIDED_COURSE navigator mode that maintains a constant ground-track bearing, altitude, and airspeed without manual stick input. The mode is activated via MAVLink and accepts real-time in-flight updates: - MAV_CMD_GUIDED_CHANGE_HEADING (HEADING_TYPE_COURSE_OVER_GROUND): set course - MAV_CMD_DO_CHANGE_ALTITUDE: adjust target altitude - MAV_CMD_DO_CHANGE_SPEED: adjust target airspeed On activation the vehicle captures its current velocity vector as the initial course bearing. A valid horizontal velocity estimate (GPS or dead-reckoning) is required; course commands are rejected if unavailable. | 4 个月前 | |
mc-auto: handle EKF heading reset | 1 年前 | |
fix(npfg): use NFPG_DAMPING and NPFG_PERIOD to calculate directional p gain (#26765) Signed-off-by: Silvan <silvan@auterion.com> | 6 个月前 | |
docs(tools): Improve rendering of boolean parameters (#27325) | 5 个月前 | |
fix(lib/perf): Fully reset mean and M2 in perf_counter | 1 年前 | |
| 5 个月前 | ||
src: avoid use of double precision pow & exp saves around 5KB flash on px4-fmu-v5 | 4 年前 | |
refactor(lib/pure_pursuit): convert params.c to module.yaml Convert 1 parameter file(s) from legacy C format to YAML module configuration. | 6 个月前 | |
fix(gain_compression): guard against NaN inputs | 5 个月前 | |
CI: enable clang-tidy bugprone-incorrect-roundings (#26574) switched to lroundf and included cmath in all removed std namespace - quick tested Signed-off-by: kuralme <kuralme@protonmail.com> | 7 个月前 | |
feat(new_module): Static and moving vision-based target esitmator (Kalman Filter) (#23726) Co-authored-by: jonas <jonas.perolini@rigi.tech> | 4 个月前 | |
feature: Integrating the RAPTOR foundation policy (#26082) * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme updating gitignore * fixing format and declaring submodules as cmake dependencies * adding uORB message documentation * fixing comment alignment * Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead) * bump RLtools; relax timing thresholds and adding real world readme * smooth traj tracking performance * Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification * More ideomatic way of setting the path to the policy checkpoint * Reset trajectory_setpoint on raptor mode activation * Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance * stable flight * Update msg/versioned/RaptorInput.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * adopting message formatting conventions * sort raptor.px4board * Archiving RegisterExtComponentRequestV1.msg * Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2 * fixing formatting * making internal reference configurable via command * RAPTOR docs wip * raptor internal reference documentation * Finishing RAPTOR docs first draft * adding logging instructions * Fixing missing command documentation test error * fixing format * adding motor layout warning * raptor minimal subedit - prettier, images etc * Improve intro * Fix up Neural_Networks version * Mentioning "Adaptive" in the RAPTOR documentation's title * Adding clarifications about the internal reference trajectory generator * Removing "foundation policy" wording * Fixing new-line check * Removing redundant (evident through directory hierarchy) raptor_ from filenames * Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic * Fix to standard structure * Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table * Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status * Trivial layout and wording fixes * fixing docs error --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com> | 8 个月前 | |
docs(params): Fix up params that render badly after prettier (#27211) | 5 个月前 | |
RtlTimeEstimator: Consider minimum ground speed (#26405) * RtlTimeEstimator: Consider minimum ground speed This fixes an issue seen when the wind is faster than the trim airspeed, but not faster than the max airspeed. In that case the RTL time estimator currently assumes that we always fly at trim airspeed and are thus unable to cover ground in the upwind direction. The result is a very large RTL time estimate, resulting in RTL if configured by COM_FLTT_LOW_ACT. By considering the FW_GND_SPD_MIN parameter, we correct this wrong assumption. The RTL remaining time estimate now becomes realistic in this situation. * RtlTimeEstimator: assume min ground speed of 5 if param unavailable | 7 个月前 | |
cal: transpose rotation instead of computing inverse This is equivalent for an orthonormal matrix | 1 年前 | |
mc_att_control_main: zero minimal thrust when landed but this time compared to 2fbb70d9ca94f442de1345221be18ba738cda952 the minimum thrust is ramping to not produce a thrust jump. The better long term solution will be to always have airmode but with the effect limited to a magnitude of MPC_MANTHR_MIN. | 3 年前 | |
test: add StickYaw unit test for unaided_yaw NaN transition bug (#26620) * test: add StickYaw unit test for unaided_yaw NaN transition bug Adds a functional gtest that verifies the yaw setpoint does not jump discontinuously when unaided_yaw transitions from finite to NaN. Reproduces the bug fixed in #25710. * test(StickYaw): clarify unaided_yaw NaN root cause in test comment NaN originates from corrupted IMU delta_angle propagating through OutputPredictor::calculateOutputStates() Euler extraction. | 7 个月前 | |
Localize math::expo_deadzone usage in Sticks.cpp to save flash (#27546) math::expo_deadzone generates ~240bytes of code for 32-bit arm platform, and it gets currently inlined several times. Localizing the function in Sticks.cpp saves ~2KB of flash, measured on px4_fmu-v5_default target. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> | 4 个月前 | |
lib/system_identification/signal_generator: change functions to inline functions for optimization | 2 年前 | |
fix(CI): Prerequisites for nuttx update (#27509) * src/drivers/cdcacm_autostart: Include posix.h for px4_close Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * platforms/nuttx/CMakeLists.txt: Fix linking of nuttx libaries for memalign This fixes memalign not found in linking step for some boards Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * Add "flock" to macos.sh setup script "flock" is not standard on macOS, and a dependency was missing from the macOS setup path. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * Fix clang-tidy errors in Bitset.hpp and in src/lib/matrix Fix the "bugprone-dynamic-static-initializers" linter errors. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * systemlib/hardfault_log: Fix clang-diagnostics error Fix for "[error] clang-diagnostic-error [error] use of undeclared identifier XCPTCONTEXT_REGS". XCPTCONTEXT_REGS is defined in nuttx irq.h, so include that. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * uORB: Fix clang-tidy error "bugprone-dynamic-static-initializers" Fix the clang-tidy error appearing on uORBManager _Instance variable by adding a getter for the reference to the _Instance and using that instead. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> * CI: Add default ubuntu mirrors as fallback In case of specified aws mirror doesn't have the package idicated by the metadata, a the default ubuntu mirror as a backup. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> --------- Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae> | 4 个月前 | |
chore(tecs): remove TECS airspeed filter parameters These parameters are never tuned by the end-user, so we can use constants instead and immediately set the kalman gain at compile time | 5 个月前 | |
fix(tflm): vendor third-party deps to enable reproducible builds tflite-micro's Makefile fetches 5 third-party dependencies (flatbuffers, kissfft, gemmlowp, ruy, pigweed, plus CMSIS/CMSIS-NN for ARM targets) via wget and git clone at build time. This breaks reproducible builds: the build output depends on GitHub and pigweed.googlesource.com being reachable and serving the exact pinned archives, which is not guaranteed and has broken in the past when GitHub silently regenerated archive zips. Bump the tflite_micro submodule to the new px4/vendored-deps branch on PX4/tflite-micro, which commits the deps directly under tensorflow/lite/micro/tools/make/downloads/. Upstream's download scripts already no-op with "already exists, skipping the download" when the target directories are present, so no Makefile patches are needed. Drop the add_custom_command, build_tflm_native target, and the empty generate_cc_arrays.py shim from CMakeLists.txt. They existed solely to drive the (now-removed) make third_party_downloads invocation and to overwrite the submodule's generate_cc_arrays.py to keep that invocation quiet. With the download step gone, none of that machinery is needed, and the submodule stays clean after a build. Verified builds against the new submodule: - px4_sitl_neural (linux/amd64 devcontainer) - mro_pixracerpro_neural (linux/amd64 devcontainer) - px4_fmu-v6xrt_allyes (linux/amd64 and linux/arm64 devcontainers) Fixes #27054 Signed-off-by: Ramon Roche <mrpollo@gmail.com> | 5 个月前 | |
Use isAllFinite() in all places that check finiteness on entire vectors or matrices | 3 年前 | |
dds: clean up timesync | 1 年前 | |
fix(ci): enable clang-tidy bugprone-macro-parentheses (#26722) Signed-off-by: kuralme <kuralme@protonmail.com> | 7 个月前 | |
fix(tunes): replace stray N command with trailing P in battery warning tunes(#20541) The N after MB was parsed as "play note 0" (rest) rather than "Music Normal" mode, since M already consumed B. Replacing it with a trailing P matches the ERROR_TUNE pattern and provides an intentional inter-repetition pause at the correct tempo. | 6 个月前 | |
lib: add variable length ringbuffer This adds a reusable class for a FIFO ringbuffer that accepts variable length packets. It is using the Ringbuffer class internally. Signed-off-by: Julian Oes <julian@oes.ch> | 2 年前 | |
Fetch metadata files from master not main For flash constrained builds, the component metadata files are downloaded directly from s3. For the main branch, these files are currently still uploaded to master. Therefore, we also need to reference master and not main. This fixes the actuators tab in QQC for KakuteH743-Wing which is one of the boards that did not exist in source when we briefly uploaded to main before reverting back to master, presumably for QGC compatibility. | 8 个月前 | |
refactor(lib/weather_vane): convert params.c to module.yaml Convert 1 parameter file(s) from legacy C format to YAML module configuration. | 6 个月前 | |
refactor(wind-estimator): remove unused parameters and unify coding style Remove ASPD_SCALE_NSD, ASPD_BETA_NOISE, ASPD_TAS_GATE, ASPD_BETA_GATE as these are never changed in practice. Keep ASPD_WIND_NSD and ASPD_TAS_NOISE tunable as they are relevant for high-altitude (wind NSD) and high-speed (TAS noise) use cases. | 5 个月前 | |
fix(build): add kconfig support for fortified toolchains | 6 个月前 | |
feature: Integrating the RAPTOR foundation policy (#26082) * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme updating gitignore * fixing format and declaring submodules as cmake dependencies * adding uORB message documentation * fixing comment alignment * Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead) * bump RLtools; relax timing thresholds and adding real world readme * smooth traj tracking performance * Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification * More ideomatic way of setting the path to the policy checkpoint * Reset trajectory_setpoint on raptor mode activation * Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance * stable flight * Update msg/versioned/RaptorInput.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * adopting message formatting conventions * sort raptor.px4board * Archiving RegisterExtComponentRequestV1.msg * Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2 * fixing formatting * making internal reference configurable via command * RAPTOR docs wip * raptor internal reference documentation * Finishing RAPTOR docs first draft * adding logging instructions * Fixing missing command documentation test error * fixing format * adding motor layout warning * raptor minimal subedit - prettier, images etc * Improve intro * Fix up Neural_Networks version * Mentioning "Adaptive" in the RAPTOR documentation's title * Adding clarifications about the internal reference trajectory generator * Removing "foundation policy" wording * Fixing new-line check * Removing redundant (evident through directory hierarchy) raptor_ from filenames * Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic * Fix to standard structure * Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table * Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status * Trivial layout and wording fixes * fixing docs error --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com> | 8 个月前 | |
parameters: support for an optional remote parameter database (#22836) The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote. | 2 年前 |
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