fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 17:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
40,580 Commits 852 Branches 161 Tags
01f0992f49b398a9d3539558853293aa219722fd
Commit Graph

2504 Commits

Author SHA1 Message Date
Beat Küng d1142008f6 FailureDetector: check if ESCs have current 
And increase the timeout to 300ms, as some ESCs only update with 10Hz.
 2022-06-04 07:40:29 +02:00
Beat Küng 82eb71d70b failure_detector: allow disabling attitude failure (as already documented) 2022-06-04 07:40:29 +02:00
Igor Mišić 25488da944 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-06-01 13:15:13 -04:00
Matthias Grob 96b0304049 PreFlightCheck: disallow arming in land mode 
after the automatic switch to Hold mode was introduced.
 2022-06-01 12:08:32 +12:00
Matthias Grob 83c15fca9f Commander: switch back to Hold mode after autonomous landing 2022-06-01 12:08:32 +12:00
Matthias Grob 33df8b24f2 Commander: differentiate clearly between to arm and to disarm transition 2022-06-01 12:08:32 +12:00
Matthias Grob 400e1f8214 Commander: only initialize to tablet mode and don't switch back on RC loss 2022-06-01 12:08:32 +12:00
Igor Misic 554283655c Revert "px4io: replace safety_off state with safety button event (#19558)" 
This reverts commit 12a81979a8.
 2022-05-26 10:06:32 -04:00
Matthias Grob c03f5b9481 Commander: fix overlooked rebase naming error 2022-05-25 21:10:19 +02:00
alessandro 29c4119e24 Match commander uORB var names to message names (#19707) 
* match vehicle_status

* match home_position

* match vehicle_command_ack

* match actuator_armed

* match vehicle_control_mode

* match commander_state
 2022-05-25 17:08:48 +02:00
Matthias Grob 0be474430c Commander: don't disarm on landing amid a mission 2022-05-24 13:42:03 +02:00
Igor Misic 12a81979a8 px4io: replace safety_off state with safety button event (#19558) 
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
 2022-05-23 06:54:37 +02:00
Igor Misic 08dcc72e1f commander/safety: replace safety.msg with Safety class (#19558) 2022-05-23 06:54:37 +02:00
Daniel Agar c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Julian Oes 33a77c225c commander: lockdown is not termination 
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
 2022-05-20 09:43:32 -04:00
Nico van Duijn 04071b9456 Commander: ignore MAV_CMD_REQUEST_MSG 
This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle
commands which are ignored without generating a warning sound.
 2022-05-20 15:36:42 +02:00
Matthias Grob 38e027ee45 ArmStateMachine: remove dependency on armed.armed 
To have the internal state as single source of truth
for the arming state within Commander.
 2022-05-20 13:51:51 +02:00
Matthias Grob 37c485ce89 ArmStateMachine: move arm state into the class 2022-05-20 13:51:51 +02:00
Matthias Grob 47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
Matthias Grob 887fe7dba2 commander_params: shorten low battery action delay 
I got multiple times the feedback now that a consistent delay
is helpful and makes sense but the default delay
is too long
for low battery action where you're trying to come back in time
and possibly the emergency reaction kicks in while the critical action
is executing which leads to a longer accumulated delay.
 2022-05-19 21:54:09 +02:00
Daniel Agar fd4b62032e commander: publish actuator_armed first on any change 2022-05-19 12:47:50 -04:00
Silvan Fuhrer 2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Matthias Grob 4bd2d4cf35 rc_update: add unit tests for mode slot 
To verify RC mode switch and mode button functionality works as expected.
 2022-05-16 14:37:29 +02:00
Beat Küng 0f860045f7 failure_detector: add failure injector class for motor telemetry 
This allows to test motor failures via 'failure motor off -i 1' on a real
system.
 2022-05-12 07:58:56 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer 1aad82f87d Commander: add max flight time RTL 
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Matthias Grob b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -04:00
Beat Küng 113982e3e7 commander: fix incorrect return in set_link_loss_nav_state() 
If both local position and altitude were not valid, then both RC loss and
datalink loss would not trigger any failsafe at all, independently from
the configured action.
 2022-05-06 10:14:13 -04:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
Daniel Agar 980f696023 commander: mag calibration tolerate fit failure if sensor disabled 2022-04-25 12:41:20 -04:00
Alex Mikhalev 45dff7f71a commander: Add prearm check for flight termination 2022-04-25 11:57:37 -04:00
Junwoo Hwang af839c828d Set Tune's Volume for Power-Off in Commander to default volume of tune_control message 2022-04-25 11:47:43 -04:00
bresch 3c6b72c33b commander: improve set_in_air_position 
- set local home using global pos and global home
- set local home using GNSS pos and global home
- set global home using global ref of local frame and local home
 2022-04-19 15:29:25 +02:00
bresch d2f2ba59a4 commander: refactor home position setter 
- always try to set local or global home position when possible
- set global home with GNSS position if global pos from EKF isn't
  available
- reset home when significantly moved from home before takeoff (checking
  lpos or gpos or GNSS)
- reset home on takeoff transition
- reset home on mavlink arm command
- remove "home required accuracy" parameters, rely on validity flags
 2022-04-19 15:29:25 +02:00
Igor Misic cdfa65d792 commander/safety: set early safety_button_available 2022-04-14 08:03:37 +02:00
Thomas Debrunner f6bdc42977 param-reset: Add option to reset all configurable params, but not the ones that store vehicle information 2022-04-14 07:57:48 +02:00
Nicolas MARTIN eb1bb4335b commander: fix enable_failsafe reason (#19391) 
- In this case, no action is configured for datalink lost. Action is configured for RC lost.
 - In case of no data link and no rc failsafe is enabled but reporting a "no_datalink" reason but "no_rc_and_no_datalink" seems more explicit.
 2022-04-09 14:30:49 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00
Daniel Agar 98623f69a3 update mavlink submodule to latest 
- update MAV_TYPE VTOL usage for current mavlink
 2022-04-07 20:35:41 +02:00
Matthias Grob 92adc71424 ArmStateMachine: port over unit tests to functional gtests 2022-04-06 10:02:14 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Igor Misic 80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Matthias Grob 3aee2497bb commander_params: add precision land option for mode switch 2022-03-30 18:11:44 +02:00