* Fix: replay the mission cached items only upon reaching resume waypoint
* Refactoring
Split camera mode mission items from gimbal ones so to have a finer control over the relative replays
* Chore: fix formatting
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Avoid flying into terrain using the distance sensor.
Enable through the parameter NAV_MIN_GND_DIST.
Only active during commanded descents with vz>0 (to prevent climb-aways),
excluding landing and VTOL transitions.
It changes the altitude setpoint in the triplet to maintain the current altitude
and republish the triplet. We also change the mission item altitude used for
acceptance calculations to prevent getting stuck in a loop.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* mission: skip a vtol takoff mission item if already in air and a fixed wing
* MissionBase: also skip FW takeoff when already in-air
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* mission: use setNextMissionItem to skip vtol takeoff when already in air
* mission: Only skip the VTOL takeoff in air for mission and rtl mission
If flying RTL mission reverse it must still include the takeoff point.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
The previous default of 900m leads to many warnings if left
unchanged, especially if the vehicle is already in-air when
the Mission is started.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- warn about full traffic conflict buffer at 1/60hz.
- add conflict expiry for buffer.
- use only events for buffer full warning. mavlink_log_critical no longer needed.
- use icao address for conflict warnings id, stop using uas_id. UTM_GLOBAL_POSITION assumed deprecated.
- stop spamming when buffer is full
- fix warning wording if buffer is full.
- remove UTM_GLOBAL_POSITION
Fixes failing unit test:
* [adsbTest] Reduce conflict timestamps - not enough time has passed in ci
- failed ci output - (passes locally with make tests TESTFILTER=AdsbConflict)
- Timestamp: 6000000000
- Time now: 457720038
- Time since timestamp: 0
- Old Conflict warning expired: 0
- --------------------
- adsb_conflict._traffic_state 0
- ../../src/lib/adsb/AdsbConflictTest.cpp:244: Failure
- Value of: adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT
- Actual: false
- Expected: true
* Commander: make low remaining flight time configurable and do not clear
- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low
* battery check: add hysteresis for declaring battery_low_remaining_time false again
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
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.
We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
MissionBase did not initialize its mission data, thus could enter an
infinite loop in updateDatamanCache() if the initMission() failed to
read the mission off, for example, due to the SDCard storage task taking
longer than the timeout to respond.
This change constrains the loading loop and resets the mission data even
if the data write failed.
The setpoint.yaw can be NAN, and this made the calculated land point NAN
as well. Looking at the current yaw is anyway a better way to approximate
the course over ground that fundamentally should be used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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
bresch