Merge branch 'development' into main

CHANGELOG.md

@@ -0,0 +1,13 @@
+# Changelog
+
+- Added UI Board integration to LowLevel Firmware
+- Moved most of the configuration to an external file
+- Added SensorFusion with imu_filter_madgwick
+- Changed planner logic, so that it starts with innermost outlines
+- We can now configure arbitrarily many outlines
+- Motor temperatures can be configured
+- Added safety offset parameter to the outline (i.e. shrink area without rerecording the areas)
+- 
+
+
+

Changelog.md

@@ -0,0 +1,37 @@
+# Changelog
+
+
+
+## [current dev progress]
+
+#### Hardware
+
+- Added solder jumper so that we don't need to solder some ICs if we don't need ultrasonic and sound
+- Moved some solder jumpers to the bottom of the board to keep them accessible even with IMU mounted.
+
+#### Software
+
+##### Breaking Changes
+
+- Moved most of the configuration to an external file
+- Removed start and pause mowing from rosparams. This was just a hack to trigger it using rqt_reconfigure.
+- Removed area_recorder and corresponding configs
+- Added SensorFusion with imu_filter_madgwick, you need to set your mag biases in the global settings file now
+
+##### Features
+
+- Added UI Board integration to LowLevel Firmware
+- Added service to start and pause mowing as well as start area recording mode
+- Added area recording behavior to main logic, so that we don't need an additional launch file for it
+
+##### Small Fixes
+
+- Changed planner logic, so that it starts with innermost outlines
+
+- We can now configure arbitrarily many outlines
+- Motor temperatures can be configured
+- Added safety offset parameter to the outline (i.e. shrink area without rerecording the areas)
+- Added vesc_msgs to mower_msgs to resolve a dependency issue
+
+
+

Firmware/LowLevel/src/datatypes.h

@@ -54,7 +54,7 @@ struct ll_status {
     float v_battery;
     // Charge current
     float charging_current;
-    uint16_t batt_percentage;
+    uint8_t batt_percentage;
     uint16_t crc;
 } __attribute__((packed));
 #pragma pack(pop)