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Commander: Introduce global_position_relaxed (#24280)

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To separate accuracy requirements for VTOL hover and cruise.

- global_position_relaxed refers to having a valid horizontal velocity aid source 
in the estimator and a set global reference position, but poses no requirements 
on the accuracy of the provided position estimate. 
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, 
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This commit is contained in:
Roman Bapst
2025-05-28 08:16:10 +02:00
committed by GitHub
co-authored by Silvan
parent eb72925045
commit b26dd4d3f3
25 changed files with 278 additions and 30 deletions
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msg/translation_node/translations/all_translations.h
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#include "translation_vehicle_status_v1.h"
#include "translation_airspeed_validated_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
#include "translation_arming_check_reply_v1.h"
#include "translation_event_v1.h"
msg/translation_node/translations/translation_arming_check_reply_v1.h
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/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate ArmingCheckReply v0 <--> v1
#include <px4_msgs_old/msg/arming_check_reply_v0.hpp>
#include <px4_msgs/msg/arming_check_reply.hpp>
#include "translation_event_v1.h"
class ArmingCheckReplyV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::ArmingCheckReplyV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::ArmingCheckReply;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "/fmu/in/arming_check_reply";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.request_id = msg_older.request_id;
msg_newer.registration_id = msg_older.registration_id;
msg_newer.health_component_index = msg_older.health_component_index;
msg_newer.health_component_is_present = msg_older.health_component_is_present;
msg_newer.health_component_warning = msg_older.health_component_warning;
msg_newer.health_component_error = msg_older.health_component_error;
msg_newer.can_arm_and_run = msg_older.can_arm_and_run;
for (std::size_t i = 0; i < msg_newer.events.size();i++) {
EventV1Translation::fromOlder(msg_older.events.at(i), msg_newer.events.at(i));
}
msg_newer.mode_req_angular_velocity = msg_older.mode_req_angular_velocity;
msg_newer.mode_req_attitude = msg_older.mode_req_attitude;
msg_newer.mode_req_local_alt = msg_older.mode_req_local_alt;
msg_newer.mode_req_local_position = msg_older.mode_req_local_position;
msg_newer.mode_req_local_position_relaxed = msg_older.mode_req_local_position_relaxed;
msg_newer.mode_req_global_position = msg_older.mode_req_global_position;
msg_newer.mode_req_global_position_relaxed = false;
msg_newer.mode_req_mission = msg_older.mode_req_mission;
msg_newer.mode_req_home_position = msg_older.mode_req_home_position;
msg_newer.mode_req_prevent_arming = msg_older.mode_req_prevent_arming;
msg_newer.mode_req_manual_control = msg_older.mode_req_manual_control;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.request_id = msg_newer.request_id;
msg_older.registration_id = msg_newer.registration_id;
msg_older.health_component_index = msg_newer.health_component_index;
msg_older.health_component_is_present = msg_newer.health_component_is_present;
msg_older.health_component_warning = msg_newer.health_component_warning;
msg_older.health_component_error = msg_newer.health_component_error;
msg_older.can_arm_and_run = msg_newer.can_arm_and_run;
for (std::size_t i = 0; i < msg_older.events.size();i++) {
EventV1Translation::toOlder(msg_newer.events.at(i), msg_older.events.at(i));
}
msg_older.mode_req_angular_velocity = msg_newer.mode_req_angular_velocity;
msg_older.mode_req_attitude = msg_newer.mode_req_attitude;
msg_older.mode_req_local_alt = msg_newer.mode_req_local_alt;
msg_older.mode_req_local_position = msg_newer.mode_req_local_position;
msg_older.mode_req_global_position = msg_newer.mode_req_global_position;
msg_older.mode_req_mission = msg_newer.mode_req_mission;
msg_older.mode_req_home_position = msg_newer.mode_req_home_position;
msg_older.mode_req_prevent_arming = msg_newer.mode_req_prevent_arming;
msg_older.mode_req_manual_control = msg_newer.mode_req_manual_control;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckReplyV1Translation);
msg/translation_node/translations/translation_event_v1.h
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/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate Event v0 <--> v1
#include <px4_msgs_old/msg/event_v0.hpp>
#include <px4_msgs/msg/event.hpp>
class EventV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::EventV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::Event;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/event";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.id = msg_older.id;
msg_newer.event_sequence = msg_older.event_sequence;
msg_newer.arguments = msg_older.arguments;
msg_newer.log_levels = msg_older.log_levels;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.id = msg_newer.id;
msg_older.event_sequence = msg_newer.event_sequence;
msg_older.arguments = msg_newer.arguments;
msg_older.log_levels = msg_newer.log_levels;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(EventV1Translation);