Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
There is no reason to keep an uncertainty on the origin as it is then
already contained in the local position estimate when GNSS data is fused
in the filter.
The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller.
The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by:
The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center.
The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above.
In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles.
The orientation rotates the major axis around the NED down axis.
The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle.
A feedback mavlink message is send with the executed pattern parameters.
- make it work again
- also supports Kconfig based clk source selection
- adapt to recent changes of default PWM limits
- support outputting in duty-cycle mode
- i2c addr use use hex representation
- revert back to common min/max value & move duty-cycle mode to advanced
This switches from the horribly intertwined ringbuffer implementation to
the new VariableLengthRingbuffer implementation.
By ditching the previous implementation, we fix MAVLink message
forwarding, which didn't work reliably. The reason it didn't work is
that multiple mavlink messages could be added but only one of them was
sent out because the buffer didn't keep track of the messages properly
and only read the first one.
Signed-off-by: Julian Oes <julian@oes.ch>
This adds a reusable class for a FIFO ringbuffer that accepts variable
length packets. It is using the Ringbuffer class internally.
Signed-off-by: Julian Oes <julian@oes.ch>
* mission_base: reset inactivation index when user set a new mission index, or mission is reset.
* mission_base: check Climb required always on current mission item
This prevents accidental misconfiguration via I2C if there are
multiple SPI devices on the same bus. The device may hear it's i2c address
and write some register, while there is data transfer ongoing with another
device.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
The head/tail semaphores are not used as lock but rather as resource
counters and thus relate more as signaling semaphores. Disable PI for
them.
I run my code with CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due
to the semaphore having no holder, disabling PI fixes this.
This prevents the mavlink transmit loop from waiting on the module mutex
thus not stopping transmissions when the mutex is already taken.
This can happen when calling `mavlink status` from the mavlink shell,
where `Mavlink::get_status_all_instances()` takes the mutex and then
prints the status via pipes to the mavlink transmit buffer.
If that pipe cannot be emptied a deadlock happens.
Since the MavlinkReceiver thread also waits on the module mutex, both
reception and transmission of Mavlink packets are then prevented thus
disabling communications entirely.
Sverre Velten Rothmund