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gg/dual-gps-failure-sim
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Author SHA1 Message Date
Claudio Micheli 0f9531a526 commander: improve failsafe messaging 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2024-03-27 20:22:04 +01:00
Claudio Micheli 457d261278 Add mavlink support for GIMBAL_DEVICE_INFORMATION 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2023-11-08 17:01:32 +01:00
Claudio Micheli 9821513a0a sensors module: add 3 decimals to all the type:float params 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2023-04-11 08:11:04 +02:00
Claudio Micheli 30e867d4de navigator_main: use camera_trigger driver for single captures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-09-15 18:15:25 -04:00
Claudio Micheli 9d486b1ccd esc_battery: account for online ESCs when averaging voltage 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-06-20 18:14:13 -04:00
Claudio Micheli 8a01135a93 Commander: more changes to use events with escs and battery failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Claudio Micheli d122513197 extend support for Battery status message 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2022-01-13 08:40:34 +01:00
Claudio Micheli 9d02851893 vmount: increase stack size to 2100 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-12-20 13:05:15 -05:00
Claudio Micheli 10e329ce9e mc_pos_control: correct MPC_XY_CRUISE description 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-11-09 21:47:06 -05:00
Claudio Micheli 05d40f40d4 Handle rc toggle mode buttons to initialize flight modes 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli c50daae4a3 rc_update: introduce support for toggle buttons via RC channels 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-14 09:52:32 +02:00
Claudio Micheli fa4fc5f347 esc_report: change esc_temperature field to allow negative values 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-09-11 15:14:49 -04:00
Claudio Micheli 2607527d63 Commander: improve user notification for yaw emergency 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-08-18 10:16:02 -04:00
Claudio Micheli a6d88cad18 mavlink_main: add ESC_INFO & ESC_STATUS to onboard_lowbandwith configuration 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-08-11 17:20:08 +02:00
Claudio Micheli b1829e5766 Predict and use braking distance when Pausing auto modes (for multicopters) (#17269) 2021-06-18 10:45:03 +02:00
Claudio Micheli bff99f9794 Commander:esc_checks minor improvements 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-04-22 13:46:08 +02:00
Claudio Micheli 371fa98579 Commander/preflight checks: Add monitoring to ESC failures 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-04-22 13:46:08 +02:00
Claudio Micheli b001865e5c Commander: clean up logic for flight mode transitions and add joystick mode initialization 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-03-30 17:56:28 +02:00
Claudio Micheli d4bea8323f PreFlightCheck: Detect missing FMU SD card 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-02-05 20:14:48 +01:00
Claudio Micheli c2154df2f6 ekf2checks: split GPS checks from AHRS checks - minor cleanup 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-02-01 09:02:19 +01:00
Claudio Micheli c2a68debd9 add jamming_state to gps sensor module 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-01-30 11:26:42 +01:00
Claudio Micheli cadd2cf883 update gps submodule 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-01-30 11:26:42 +01:00
Claudio Micheli 5eb4ab6d73 vehicle_gps_position: add jamming_state 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-01-30 11:26:42 +01:00
Claudio Micheliandbresch c4d162f9a0 EKF: range_finder parameterize range sensor quality hysteresis time 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-11-04 12:35:39 -05:00
Claudio Micheli 75ab105605 cm8jl65: avoid flooding console with errors if errno is EAGAIN 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-08-11 08:14:47 +02:00
Claudio Micheli 743898d574 Commander: failure detector, automatically disarm on a ESC failure 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli a7f2f2908b Commander: make optional tilt-check after takeoff (failure detector). 
- Introduced COM_LKDOWN_TKO parameter
    - Introduced auto disarm for lockdown state
    - Do not trigger flight termiantion if system is in lockdown

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli 6358dd400a failure detector: added esc failures detection 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli 4cdc58ce8d EscBattery: only publish data if all the ESCs are online 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-06 15:56:54 +02:00
Claudio Micheli dc29a994b7 msg: extend field definition in msg/esc_report (arming & failure states) 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-04-03 09:16:43 +02:00
Claudio Micheli 421a06685c BMM150: Fix priority assignment 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-22 12:26:49 -05:00
Claudio Micheli 624fcc3adb v5x target: Fix wrong FD for TELEM3 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-21 23:27:59 +01:00
Claudio Micheli 288725684c Commander: remove variable duplication for geofence and rc override 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-01-14 22:54:16 +01:00
Claudio Micheli ba99ef0d3b Commander: Add COM_ARM_AUTH_REQ for enabling Arm Authorization 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-11-17 11:22:36 +01:00
Claudio Micheli 9364393e9d mavlink_receiver: Reject own autopilot messages for battery status. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-11-14 22:20:22 +01:00
Claudio Micheli 5fd483dbf8 ll40ls: fixed typo errors. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli 6a8b25a1b9 ll40ls: simplified probe logic and lowered max readable distance. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli 59f61b3107 ll40ls: fix v3hp signal quality and modified probe to detect v3hp. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli 327529d063 ll40ls: unify maximum operational distance to 35m 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli fcdd2fabeb ll40ls: refactor driver start on i2c. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli 5eefd9409b ll40ls: [Wingtra docet] fix for properly resetting v3 and v3hp modules. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli 7799f4c68b ll40ls: fix for lidar lite v3hp 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-04 15:27:16 +01:00
Claudio Micheli b6bba0428a uavcan: fix limit actuator poll interval. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-09-03 09:35:01 -05:00
Claudio Micheli ec5d36d9c7 UAVCAN esc: relax threshold for detecting offline escs. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-23 11:40:53 -04:00
Claudio Micheli f3eafdc296 Fix wrong initialization of PWM_AUX_RATE. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-23 15:37:57 +02:00
Claudio Micheli aae16cc594 uavcan esc: use time literals for timeout checks. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 2eb9fb9ed6 Commander: move esc_status as local variable. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 5fe7992af5 mixer_group: improved get_multirotor_count () code readbility. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 09d79b221f Simplified esc_status healthiness logic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 8a2d05be4f Improved code comment for condition_escs_error topic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 75c336c00c uavcan_main: replaced printf messages with PX4_INFO 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 1e04d718f6 uavcan escs: Modified esc_status reporting to have _rotor_count published. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 187a025dfe Commander: added esc_status prearm checks 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli d06c679252 uavcan esc: added timeout checks to escs. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli 03637fa6f1 Added topics to esc_status and vehicle_status_flags. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Claudio Micheli e7075a6660 rcS: Fix multiple set IO_PRESENT. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-05-03 12:20:49 +02:00
Claudio Micheli 0eb4942f66 Commander: renamed print_msg_once variable into a more self-explanatory one. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli be6f753022 Fixed CI errors. changed _print_msg_once into private class member. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli e14e5b9d73 Commander: Changed COM_ONB_BOOT_T parameter to COM_OA_BOOT_T. 
Since the time out is only Obstacle-Avoidance related, the new naming is more self explanatory.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli d937a5725b Commander: reset print once variable if OA is lost. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 9966a3d2f8 Commander: changed logic for checking OA at boot time. 
With this commit the use cases will be:

Success case:
- booting, no messages about OA, pre-arm check would fail if you try to arm and OA is not yet running

Fail case:
- if OA takes longer than timeout time defined in COM_ONB_BOOT_T, then an error message is triggered.


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 3b5ef82193 Commander: Added COM_ONB_BOOT_T parameter. 
Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 7a8002fdab Commander: increased hardcoded timeout time for avoidance to start. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli f4a4dab65a Commander: Improved logic for OA prearm checks. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 977a4c8e9b Added status_change to force message updating. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 107746ded5 Added obstacle avoidance healthiness topic in vehicle status msg. 
This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli 697566177c Commander: Properly initialized another boolean variable. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 908cdaa574 Onboard controller loss parameter cleanup. 
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli cd47cefb03 Some more code cleanup. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 59cf9a1dd4 telemetry_status: Changed "type" comment. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli fb990d7de3 Removed subscribtion to multiple _telemetry_status instances. 
Since commander handles all telemetry_status the same there is no need to subscribe to multiple instances.


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli a53594135b Commander: changed "datalink regain" logic. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli ca53217175 removed stm discovery board. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 13f3ee4c82 state_machine_helper: (Critical) Prevent datalink failsafe triggering if not enabled. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 788e28fbb1 Commander: datalink heartbeat variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 32e4baf6a0 Commander: some more cleanup. 2019-03-12 11:24:33 +01:00
Claudio Micheli a84a1e1b5a Commander: mavlink messages cleanup. header variables refactoring. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli b85cceebe9 mavlink_receiver: Ignore heartbeats coming from other vehicles. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 14415b29c1 Removed hardcoded onboard controller timeouts thresholds. 
Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 156317e546 Fixes for ONBOARD Controller lost & regain. 2019-03-12 11:24:33 +01:00
Claudio Micheli f44c690b33 Modified COM_DL_REG_T parameter description. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 1fc055a51f Fixed some issues for datalink loss & regain (GCS HEARTBEAT). 
Major changes:
- Prevent  "HIGH LATENCY DATA LINK LOST" message to appear if iridium telemetry is not used.
- Prevent "DATA LINK LOSS" mavlink messages flooding when QGC is open and then closed.
- Changed "DATA LINK REGAINED" condition (use _datalink_last_heartbeat_gcs insthead of _datalink_lost)



Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Claudio Micheli 8a313ffc26 Applied code-review suggestions. 
- Removed blocking serial.
- Added passing variables by reference to parser.
- Removed commented code.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli d1da46ef46 Added generic UART configuration. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli ca0cd27c6b Formatted code. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 7124cbf3af Fixed CI broken build. Made TELEM2 default port. 
Device port can be set via SENS_EN_CM8JL65 parameter:
SENS_EN_CM8JL65 = 0 -> Disabled
SENS_EN_CM8JL65 = 1 -> Enabled on TELEM2
SENS_EN_CM8JL65 = 2 -> Enabled on TELEM1

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli e4381bfc87 Added sensor enable/disable parameter (SENS_EN_CM8JL65). 
Disabled by default.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 46c5a79b57 Renamed files according to distance sensor hardware. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli aee6a83fe0 Code Cleanup. Added configuration notes. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli c5fece6568 Redefined reading strategy from serial to get the latest available data. 
First "stable" version of the driver.

TODO: - Cleanup the code
      - Bench test (compare data with IMU)
      - Flight Test

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 39ed84b5cd Debugging printf. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 5d70ac7fd9 Removed dismissed folder. 
TODO : Adjust work_queue rescheduling (to always have a 10Hz cycle)

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli b0ac8fe963 Removed blocking "while" cycle to access serial port. 
Serial is now cycled with work_queue rescheduling if some bytes are missing.

TODO: - Fix occasional sensor spikes (can be identified with crc)
      - Clean up the code
      - disable debug printf


Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 93b3cf241b Renamed driver folder. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli dd300dca0a Solved frequency rate issue. Now driver publish at ~10Hz. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 4b7be38e67 Added uORB publishing. 
TODO: Need to fix driver cycling.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 700fd5652d Added parsing function. Everything works OK. 
TODO:
- Clean up the code
- Add uORB publishing messages

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00
Claudio Micheli 591e8fde5d Initial commit. Integrated new distance sensor hardware. 
TODO: Parsing the data

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-01-15 09:17:24 +01:00