Only re-evaluate if no longer in GF when flight mode is changed or
Loiter position was changed (eg through goto).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- check if Home would breach it (we do not want to upload GF that
do not allow to return to Home)
- check if the current vehicle position isn't contained in the GF
if armed (as then it would immediately trigger)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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.
* 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
For FW takeoffs we need to keep the course straight towards the first
waypoint, and not climb in loiter patterns first.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
If no altitude setpoint is specified then takeoff to the default
altitude above the current global position, not above Home.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode
This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.
* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission
* Navigator: remove cruising_speed_sp_update()
Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Silvan Fuhrer