This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
- consolidate scattered arming requirements in `arm_disarm()`
- there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
- if geofence enabled require valid home before arming
- throttle requirements for manual modes
- remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
- let the preflight/prearm checks respond directly in most cases
Co-authored-by: Matthias Grob <maetugr@gmail.com>
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
- updating the global position validity should happen regardless of
being in manual position control mode with only optical flow
- condition_global_position_valid needs to be accurate to adjudicate
main state changes (eg going into AUTO MISSION)
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
