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preflight check: base business logic

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- currently triggered via param COM_DO_CS_CHECK. ultimately this will
   be replaced by a mavlink cmd
 - new VehicleStatus.nav_state, NAVIGATION_STATE_CS_PREFLIGHT_CHECK.
   this is how commander tells ControlAllocator to conduct the check
 - (todo) within ControlAllocator we overwrite torque setpoints to do
   the check. additionally we can also control servos directly from
   there, in a different mode if that is needed.
This commit is contained in:
Balduin
2025-02-14 09:45:53 +01:00
parent ce64263ce7
commit 01a65bfcf6
6 changed files with 96 additions and 1 deletions
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msg/versioned/VehicleStatus.msg
+1 -1
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@@ -49,7 +49,7 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position cont
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_FREE1 = 16
uint8 NAVIGATION_STATE_CS_PREFLIGHT_CHECK = 16
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow