This reverts commit 446598d003.
The first warning was due to a race condition that is fixed by the previous commit;
don't omit the first warning anymore
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
This logic was introduced to avoid large altitude drifts in velocity
mode (altitude not controlled) due to potential velocity estimate bias
in case of IMU problems (see PR #8445). After some refactorings,
the logic started to be used in altitude-controlled modes as well, which is not needed.
that prevents the vehicle from crashing with invalid setpoints or
states.
This broke with #16869 when the scheduling of the position control module
and the setpoint generation got independent. The failsafe mechanism assumed
the setpoint is overwirtten by the possibly infeasible input on every loop
iteration which is not the case anymore. As a result the failsafe reset its
histeresis based on the failsafe setpoint from the last loop iteration.
Keeping the failsafe_setpoint separate solves this issue. Note that
these setpoints to the bare minimum to keep the vehicle safely in the air
and do not suffer from sideffects ignoring the EKF reset.
- 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
In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- 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>
bresch