- 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.
* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
When we use a gimbal connected via "RC", so PWM via the Aux channels, we
need to set the gimbal_device_id to 1 as per the protocol.
This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and
fixed the name of that variable while at it.
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
This will send the System message if it is already being sent by a ground
station. Otherwise, it will assemble the message itself using the
takeoff/home location.
Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
This is similar to fake pos but is only used when the ekf has an
external information telling it that the vehicle is not changing
position. This information can then be used to keep a valid local
position even when the vehicle isn't exactly at rest.
