Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* battery: make time remaining estimation dependent on level flight characteristis for FW
* battery: fix that FW flight is also correctly detected when vehicle_status is not updated
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FixedwingPositionControl: Move constant to header file
* flight phase estimation: use tecs height rate reference to check for level flight
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
When the CPU load monitor is started while already running, then the
idle thread last_times[0] is reset to the last 1 second, rather than
since when the CPU load monitor was last started. The remaining threads
are not impacted, since their last_times[i] is reset to zero here.
This results in the idle thread having a lower than real CPU load, with
the remaining CPU time being wrongly attributed as scheduler load.
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* FixedWingPositionControl: split vtol backtransition logic into separate method
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* review changes
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* removed unused parameter
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* small renaming of transition mode
Signed-off-by: RomanBapst <bapstroman@gmail.com>
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
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Co-authored-by: bresch <brescianimathieu@gmail.com>
When handling multiple commands, it could happen that the first command
updates _reposition_triplet. Normally this would then get handled after
getting the mode change from commander through vehicle_status.
But if the next command is handled before an update from commander, it
could overwrite the triplet.
This patch ensures that navigator waits for an update from commander (and
therefore process the _reposition_triplet) before handling the next
command.
This happened specifically when pressing 'Pause' from QGC during a mission.
QGC sends VEHICLE_CMD_DO_REPOSITION twice, first for pausing, then changing
the altitude.
The result was that the vehicle would not stop at the current location but
continue to the next mission waypoint and stop there.
- fake_pos only if at rest or tilt variances becomes large
- fake pos: don't run when grav fusion is enabled
- gravity fusion enabled by default
- gravity: only fuse when accel norm and lpf norm are consistent
Co-authored-by: bresch <brescianimathieu@gmail.com>
muramura