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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/versioned/ArmingCheckReply.msg
+2 -1
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@@ -1,4 +1,4 @@
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -25,6 +25,7 @@ bool mode_req_local_alt
bool mode_req_local_position
bool mode_req_local_position_relaxed
bool mode_req_global_position
bool mode_req_global_position_relaxed
bool mode_req_mission
bool mode_req_home_position
bool mode_req_prevent_arming