08cf97c687
Commander: indicate failsafe reasons more clearly
2017-04-09 12:40:34 +02:00
32995a5bc1
state_machine_helper: remove unneeded code to disable sensor publication
...
In HIL mode we do not start the sensors anymore, so this is not needed.
Also it did not work (I did not try to find the reason, just noticed the
sensors kept publishing in HIL mode)
2017-03-10 09:00:24 +01:00
24819ce7b1
commander: no datalink failsafe on ground
...
On SITL startup we got a datalink lost failsafe message whenever home
was initialized. The reason that in standalone SITL, there is usually no
datalink connected. However, on ground, we shouldn't really failsafe,
therefore it makes sense not to enter the state in the first place.
2017-03-08 05:33:32 +08:00
e81e6a8296
fw_att_control add rattitude mode
2017-02-18 08:03:19 +01:00
c14c9c20eb
commander tests allow FW ACRO
2017-02-18 08:03:19 +01:00
a5f3f65c2b
Switch assignment: added manual and stabilized switch for a default stabilized switch scheme, let FW go into Acro
2017-02-18 08:03:19 +01:00
7a77e27a79
fixed wing offboard attitude setpoint fix ( #6112 )
2017-02-15 23:51:50 -05:00
0263ab8cd2
enable takeoff in gps denied areas and minor requested changes
2017-02-13 21:11:25 +01:00
1f7fdb2386
allow local position for takeoff (e.g. flow)
2017-02-13 21:11:25 +01:00
feda5caac2
commander state machine helper fix style and remove unused
2017-02-12 10:29:59 +01:00
d0b188f585
commander FW don't allow FOLLOW or OFFBOARD
2017-02-12 10:29:59 +01:00
a92931fe84
Commander: Switch system off if in undervoltage condition and disarmed.
...
This is necessary to not have systems deep-discharge the battery while sitting idle. While at it we also deny arming in low battery conditions to ensure people who just landed with a low battery do not take off again and fail to get a successful RTL.
2017-02-04 21:06:21 +01:00
b33d49c77d
state_machine_helper use static_assert
2017-02-01 22:15:50 -05:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
1c3ebadb85
Removed unused defines AVIONICS_ERROR_VOLTAGE and AVIONICS_WARN_VOLTAGE
2017-01-21 11:45:36 +01:00
3a17c07b1e
Implement RC and DL failsafe action handling for multirotors
...
Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch
Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
2016-12-27 00:38:13 +01:00
e3aecc0762
state_machine_helper: remove unused const var
2016-12-15 10:17:03 +01:00
0b02a6e0f7
state_machine_helper: warn about offboard lost, not RC
...
When offboard input stops and we're in OFFBOARD mode, we should complain
about offboard being lost and not RC because we probably never even had RC.
2016-12-15 10:17:03 +01:00
e9737d6f7a
Preflight checks: made sure pre-flight check results are always reported first thing on the console and always on new or re-established telemetry links AFTER waiting for the hotplug timeout
...
(leads to double publishing on the console when a new link is established, but this is the best compromise between fixing and completely restructuring)
2016-12-02 22:56:48 +01:00
f772fc2d02
Airspeed: preflight check for bad offset, fixed calls to preflight checks (vtol & airspeed)
2016-12-02 22:56:48 +01:00
dbd94907c4
Only send failsafe info messages on state change.
2016-10-13 01:57:00 -04:00
43b665ae01
Fix gps circuit breaker logic in state machine.
2016-10-12 23:07:26 -05:00
ce0d31b7d9
mavlink log: ensure all critical & emergency msgs are also logged to console & ulog
...
Critical messages that the user sees should also go to the log file, so
that the exact error (with time) can later be analyzed from the log file.
2016-09-30 13:50:51 +02:00
c4eabbd083
VTOL transition switch parameter checking ( #5545 )
...
* VTOL transition switch parameter checking
* Code style
2016-09-26 10:18:23 +02:00
11f8da5fc6
AUTO_LOITER respect disabled RC link loss param ( #5499 )
2016-09-23 18:14:32 -04:00
bc7178c538
Allow mission with active DL and DLL failsafe off
2016-08-05 10:19:06 +02:00
e8a87538b8
Code style
2016-08-05 10:19:06 +02:00
95e80cc29b
Only RTL when mission finishes mid air on DL Lost
2016-08-05 10:19:06 +02:00
99aa5f49fc
FW ALTCTL requires altitude
2016-07-29 13:48:21 +02:00
6aa935fed6
FW don't allow ACRO or RATTITUDE
2016-07-29 13:48:21 +02:00
7b52eced66
commander: write timestamp of commander_state topic on init and state change
2016-07-19 09:21:35 +02:00
87e964ec10
commander: POSCTL with localpos for MC
...
Fixedwings need a global position estimate for POSCTL.
2016-07-15 14:43:36 +01:00
f430c39f5b
commander: allow POSCTL with local position
...
We want to allow flying POSCTL with optical flow only without GPS.
2016-07-15 14:43:36 +01:00
314ee6b7e0
commander: remove some if confusion
...
This is a try to simplify the if statements a bit. Also, a check of
new_arming_state which was impossible, is removed.
2016-07-13 10:10:45 +02:00
91127d51c0
commander: stay in failsafe even when landed
...
If the failsafe state is ended when landed, we would switch back to
POSCTL and therefore take off again, however, all we want is stay on
ground and wait for the auto disarm.
2016-06-21 10:21:34 +02:00
5ad671ed4c
Solve the problem When lost rc signal, it will rtl repeated.
2016-06-21 10:21:34 +02:00
c7ec07be70
commander: properly use new param
...
The param COM_ARM_WO_GPS is set to 1 by default to allow arming without
GPS. This then sets a bool arm_without_gps which translates to
!GNSS_check in preflightCheck.
2016-06-21 10:21:34 +02:00
f67e74935e
commander: remove leftover printf
2016-06-21 10:21:34 +02:00
ef04085ac5
commander: go to ALTCTL if GPS is lost in POSCTL
...
Previously, we renained in POSCTL and would drift away if GPS was lost.
2016-06-21 10:21:34 +02:00
d0355cef1f
Revert "commander/navigator: remove param NAV_RCL_ACT"
...
This reverts commit 77ea4cebf41cd106fe771b9eb469aa2326339467.
2016-06-21 10:21:34 +02:00
016d514d80
commander/navigator: remove param NAV_RCL_ACT
...
The param NAV_RCL_ACT was not implemented as described. Also, it has the
completely the wrong name. It should be a COM param and not NAV.
Therefore, remove the param and delete the partly implemented
and probably never used functionality.
2016-06-21 10:21:34 +02:00
fe29d99d62
commander: use the gps_failure flag
...
The gps_failure flag had been ignored in some navigation states.
2016-06-21 10:21:34 +02:00
4d10759699
commander: use DESCEND mode and not LANDGPSFAIL
...
Always use the DESCEND mode and not LANDGPSFAIL because LANDGPSFAIL will
try to loiter for some time and then request termination instead of
descending gently and trying to land.
2016-06-21 10:21:34 +02:00
095997ca59
changed order of arguments for readability
2016-06-20 19:03:10 +02:00
ced8376268
added offboard lost actions with additional timeout
2016-06-20 19:03:09 +02:00
4ab8ddec53
rename cb_usb -> circuit_breaker_engaged_usb_check
2016-06-15 20:35:16 +02:00
7398164fcc
Updated PX4 use / API of low level GPIO and other hardware-centric system facilities
2016-05-28 14:56:17 +02:00
51298c1eb1
remove unused
2016-05-13 13:01:42 +02:00
008354f935
testing cleanup
2016-05-13 13:01:41 +02:00
55d18949bc
Commander: support finer granularity of data llink loss and RC loss actions
2016-04-25 08:44:51 +02:00
Lorenz Meier