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Author SHA1 Message Date
Konrad c83fd11924 RTL: Always publish available approaches from home and rally points irrespective of rtly type 2025-03-07 09:01:19 +01:00
Konrad 613a4b682e CI: add option to filter for boards in generate_board_targets 2024-11-04 09:46:49 -08:00
Konrad e666b8ddfd CI: make sure that the generate_board_targets includes all found targets 2024-11-04 09:46:49 -08:00
Konrad daf604b361 mavlink_mission: handle concurrent mission count messages 2024-10-08 15:34:51 +02:00
Konrad 7ec4c1419c mavlink_mission: only accept a mission request list on an ongoing transfer, when it is the same partner 2024-10-08 15:34:51 +02:00
Konrad b51ad07ed0 mavlink_mission: do not send the mission count if a new mission is detected since a receiver can now check this by changing mission ids in the MISSION_CURRENT stream 2024-10-08 15:34:51 +02:00
Konrad 1c62dda057 mavlink_mission: make sure send mission item error ack is send to the right sysid/compid 2024-10-08 15:34:51 +02:00
Konrad b1d52e20c6 mavlink_mission: guard incoming misison item to be from the current transfer partner 2024-10-08 15:34:51 +02:00
Konrad c20c1f09a6 RTL_DIRECT: explicitely set force heading in loiter hold if needed 2024-09-23 11:02:02 +02:00
Konrad 02e50bb5dc rtl_direct: loiter hold should track altitude as best effort but not enforce it 2024-09-23 11:02:02 +02:00
Konrad 82a7d0410c DistanceSensorModeChangeRequest: renaming of variable 2024-09-16 09:11:23 +02:00
Konrad aab2390e51 navigator: publish distance sensor mode change request when in RTL landing phase or during mission landing 2024-09-16 09:11:23 +02:00
Konrad 1755b8304e RTL direct: Make sure the _rtl_state captures the current status and not the next one 2024-09-16 09:11:23 +02:00
Konrad e6f07bde2a lightware_laser: add option to listen to system to enable/disable distance sensor 2024-09-16 09:11:23 +02:00
Konrad 4713a6737e TECS: ramp up fast descend over 2_s to ramp down the throttle command 2024-09-13 14:04:39 +02:00
Konrad 585c92796d mission_base: do not make terrain avoidance check when mission is not run anymore 2024-09-13 13:59:24 +02:00
Konrad 80d4fad624 DistanceSensorCheck: do not raise a distance sensor failure if the SFXX_MODE is set to 2 and we are in a VTOL FX flight phase 2024-09-03 15:53:09 +02:00
Konrad 20b6f343a3 mission_base: make sure all mission_items during landing phase have yaw set to NaN 2024-08-22 12:58:44 +02:00
Konrad 664a0f2cda HomePosition: Add minimum position change needed to be recognised as new home position 2024-05-21 09:11:56 +02:00
Konrad 17916b7fdc uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream 2024-05-15 11:07:01 -04:00
Konrad 6984e6da7f TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation 2024-05-07 14:20:07 +02:00
Konrad f56f4c7033 TECS: enable specific energy weights to have a value up to 2 2024-05-07 14:20:07 +02:00
Konrad f8a20e1964 TECS: increase airspeed control limit for fast descend 2024-05-07 14:20:07 +02:00
Konrad 6a789b54c6 TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle. 2024-05-07 14:20:07 +02:00
Konrad 6a7555c005 mission_base: fix to set the end of mission item always, if the mission can't be properly loaded or started 2024-04-11 10:21:52 +02:00
Konrad c5fde63440 mission: The mission check on activation should only be performed for a mission, not RTL. 
We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.
 2024-03-11 17:08:56 +01:00
Konrad e9fda548fa rtl_direct: Rtl estimate only needs valid destination, not home position 2024-03-11 14:04:02 +01:00
Konrad 91d1342f20 rtl_direct_mission: rtl_estimate for fixedwing land is diagonal 2024-03-11 14:04:02 +01:00
Konrad 89844625b4 rtl: reduce time estimate calculations 2024-03-11 14:04:02 +01:00
Konrad fde71cd15e rtl_direct_mission_land: add time estimation for RTL mission land 2024-03-11 14:04:02 +01:00
Konrad 14e4169473 rtl_direct: Move the time estimation calculation into a separate helper class 2024-03-11 14:04:02 +01:00
Konrad 04099ed483 mission_base: Force mission validity check on activation 2024-03-08 17:26:04 +01:00
Konrad 1aa26a5a91 missionFeasibilityChecker: Fix tests 2024-03-08 17:26:04 +01:00
Konrad acd750e033 mission_base: Run feasibility checker only after first global position has been published 2024-03-08 17:26:04 +01:00
Konrad 6c6142ba79 MissionFeasibiltyChecker: Do not delete uorb data on reset. 2024-03-08 17:26:04 +01:00
Konrad 7fb584adbe MissionResult uorb: fix wrong int types 2024-03-08 17:26:04 +01:00
Konrad fb3aab1fb0 mission_base: check mission feasibility again, if geofence has changed. 2024-03-08 17:26:04 +01:00
Konrad 1b03ac4d2b mission_base: Only run mission feasibility if the geofence module is ready 2024-03-08 17:26:04 +01:00
Konrad 815cea2abb geofence: publish status of loaded geofence 2024-03-08 17:26:04 +01:00
Konrad 51321c605e mission_base: clean up mission check evaluation 2024-03-08 17:26:04 +01:00
Konrad a0ae073d8c mission_base: Do not initialize mission from dataman. only listen on mission topic 2024-03-08 17:26:04 +01:00
Konrad 424c3cd2cb FeasibilityChecker: Add new TakeoffLandAvailable option 
ADd a new misison feasiblity checker option to check if a proper landing approach is defined when in air. There must be at least a mission landing or a VTOL approach defined in order for the mission to be accepted. Else, use the same logic as in MIS_TKO_LAND_REQ=4
 2024-02-16 10:27:22 +01:00
Konrad 68100650da RTL: publish a status message on currently chosen RTL point 2024-02-16 10:27:22 +01:00
Konrad cb09dde606 FixedwingPositionControl: Used corrected npfg roll output in path mode 2024-02-13 17:17:44 +01:00
Konrad 1a1891073e FixedwingPositionControl: Only warn user when roll is reduced for a longer period of time 2024-02-13 17:17:44 +01:00
Konrad 169d2dd286 mission_base: fix validity on abort landing 2024-01-30 11:25:37 -05:00
Konrad 0a153efb9d mission_base: make sure to always update state on mission topic update 2024-01-30 11:25:37 -05:00
Konrad 97ce599b1f mavlink_mission: publish mission topic at startup 2024-01-30 11:25:37 -05:00
Konrad 9fd137e88e mavlink_mission: add alternating storage for geofence and safe points on upload 
This way the old points are kept on an upload error.
 2024-01-30 11:25:37 -05:00
Konrad 50f1abaef1 dataman: extend for double storage geofence and safe points 2024-01-30 11:25:37 -05:00
Konrad dfa56d474a mission: renaming dataman_id to mission_dataman_id 2024-01-30 11:25:37 -05:00
Konrad cac858cb24 dataman: use correct size for dataman compat key 2024-01-30 11:25:37 -05:00
Konrad df46ad7774 Dcm2: Use std::sin with overloaded types 2023-12-05 10:42:23 +01:00
Konrad d1b8a2e8d5 fxedwingPositionControl: Add slew rate at the end for all mode instead inside each 2023-12-05 10:42:23 +01:00
Konrad ae3aee3402 fw param: reduce default COM_VEL_FS_EVH to warn earlier when velocity uncertainty increases 2023-12-05 10:42:23 +01:00
Konrad 1d07697a9e NPFG: Add fallback for corner cases 2023-12-05 10:42:23 +01:00
Konrad 42ce9eb692 mavlink_mission: Send MISSION_CURRENT periodically even when no mission is loaded. 2023-11-29 11:10:40 -05:00
Konrad 36f0c0f0bf mavlink-mission: Add support for opaque ids and replace update counter with it 2023-11-29 11:10:40 -05:00
Konrad 120e7fea8b mavlink: update submodule including opaque ID 2023-11-29 11:10:40 -05:00
Konrad 8a68a66203 figureEight: Rename relative position variable 2023-11-28 10:06:01 +01:00
Konrad 1e06ed2ed5 figureEight: Rework initialization 2023-11-28 10:06:01 +01:00
Konrad a73409c015 FigureEight: Refactor initialization 2023-11-28 10:06:01 +01:00
Konrad 6a34b63b60 mission_base: perform mission_check_valid if mission, geofence ot homeposition have changed 2023-11-24 08:11:41 +01:00
Konrad 5e1f0b73ce HomePosition: Add an instance counter 2023-11-24 08:11:41 +01:00
Konrad 3ac7ed6afa mission_base: Do not reset mission on invalid mission upload 2023-11-24 08:11:41 +01:00
Konrad a92e7a8796 missionResult: remove unnecessary constants and rename instance_count to mission_update_counter 2023-11-24 08:11:41 +01:00
Konrad 9387de8282 mavsdk figure 8 test: Increase time of timeout 2023-11-22 16:47:38 -05:00
Konrad 32127ca789 loiter: set loiter position to current position setpoint, if it is a loiter item 2023-11-13 12:43:58 +01:00
Konrad 44d1003f8e rtl: Only use approaches for vtols in fixed wing mode 2023-11-12 15:41:28 +01:00
Konrad 72c6db6b23 vtol_rtl_test: explicitly disable RTL_FORCE_APPROACH for RTL direct Home testcase 2023-11-08 17:48:34 +01:00
Konrad 3d16383bb4 mavlink_tests: fix include directory to point to chosen mavlink dialect 2023-11-07 11:35:23 +01:00
Konrad 1089079a32 Figure_of_eight: Make configuration dependent on defined mavlink_message_id. 2023-10-31 15:57:59 -04:00
Konrad e3473a0f90 mavsdk_tests: Add integration tests for figure of 8 2023-10-31 15:57:59 -04:00
Konrad 8edd7ce2c1 kconfig: Add option to enable figure of eight support 2023-10-31 15:57:59 -04:00
Konrad e5e66370e7 FixedwingPositionControl: Add support for figure 8 loitering. 
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.
 2023-10-31 15:57:59 -04:00
Konrad 2e850371c5 test_vtol_rtl: increase time to disarm to make tailsitter CI pass 2023-10-31 14:16:02 +01:00
Konrad e4e2e6374a fmu-v6x: enable vtol takeoff again 2023-10-31 14:16:02 +01:00
Konrad 654e885003 mavsdk: Add integration tests for RTL with approaches 2023-10-31 14:16:02 +01:00
Konrad 24f59dd465 autopilot_tester: Add mavlink passthrough to end custom commands 2023-10-31 14:16:02 +01:00
Konrad a4d05085a7 Navigator: Don't switch to RTL if already in landing phase of mission. 2023-10-31 14:16:02 +01:00
Konrad c1214c847f rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash 2023-10-31 14:16:02 +01:00
Konrad 698c57c5f8 [RTL] Add VTOL land approach for home with designated loiter points in the RTL mode. 2023-10-31 14:16:02 +01:00
Konrad e2cbf5be94 [RTL] Update MAVLINK Mission logic to send optional loiter points to mission rally points. 2023-10-31 14:16:02 +01:00
Konrad ee5cfbb01c px4_fmu-v5_stackcheck: Disable OSD driver to save flash 2023-09-29 14:25:03 +02:00
Konrad 2779a00ac8 VTOL TAKEOFF: Add Config to deactivate, and deactivate on all boards except fmu_v5x and sitl. 
QGC does not support VTOL takeoff and thus this is used to safe flash space.
 2023-09-29 14:25:03 +02:00
Konrad 4227e2b7e7 test_vtol_mission: Increase thresholds for tests to pass. Temporarily disable checks tracks fro reverse mission. 
Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m.
Increase time to disarm for tailsitter test to pass.
Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.
 2023-09-29 14:25:03 +02:00
Konrad 5c021d8fa4 RTL: Keep only the selected RTL type in memory. 2023-09-29 14:25:03 +02:00
Konrad d4ea106f9e RTL: When RTL_TYPE is set to 1 make sure to always use a mission landing/safepoint if available and not in RW mode. 2023-09-29 14:25:03 +02:00
Konrad 9a48d375ce mavlink-mission: Calculate land_start and land item directly on mission upload. 2023-09-29 14:25:03 +02:00
Konrad 007ed11bbe Mission+RTL: Refactoring mission and RTL to keep them separate. RTL does all its mission related computation in its own class. 
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.
 2023-09-29 14:25:03 +02:00
Konrad 679a532e61 failsafe: When rtl_time_estimate failsafe is triggered, only disable it when the user changes the mode, or it is disarmed. 2023-09-13 16:19:08 +02:00
Konrad e4111a03bf mavlink-mission: Initialize the safepoint and mission counter from the dataman state. 
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
 2023-07-27 07:21:29 +02:00
Konrad aa2c47a56b mission: On an updated mission, don't assume per default that the mission is not valid, use the state from the last mission validation. 2023-07-27 07:21:29 +02:00
Konrad 3303323971 mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL. 2023-06-16 14:21:32 +02:00
Konrad 7098970a38 Tools: extend documentation parser: 
- Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported)
- Add the possibility for the parser to parse int argument with bitwise shift operators
 2023-03-06 18:34:01 -05:00
Konrad b9f9f25b48 parameter_translation: Add parameter translation for renamed L1 parameters 2023-02-09 17:51:55 +01:00
Konrad 92277ebb96 FixedwingPositionControl: Explicitly set wind to zero when it is not valid. 2023-02-09 17:51:55 +01:00
Konrad de4b139540 FwPosControl: Update behavior of navigating to a waypoint when the previous waypoint is not valid. Go along the line of the current aircraft position to the desired waypoint. 2023-02-09 17:51:55 +01:00
Konrad d5025810b4 FixedWingPositionControl: remove get_nav_speed_2d function as npfg can handle this internally. 2023-02-09 17:51:55 +01:00
Konrad 6bdeb43e0d fw_path_navigation: Remove explicit L1 mentioning. 2023-02-09 17:51:55 +01:00