* commander: add check for VTOL airfame on fmu-v2
This adds a preflight check when a VTOL airframe is configured
on a fmu-v2 where VTOL is no longer included.
* commander: address code review comments
This is a corner case that happens when the user wants to command an
altitude change just after a takeoff. Takeoff doesn't set the current
lat and lon therefore the user had to change altitude twice to get it working.
The first time to set the current lat and lon and the second time to
actually change altitude.
Before this check we were free to fly outside of a geofence with a goto
command. With this check we ignore the command if the location of the goto
is outside the fence. If this is the case we send back a mavlink warning to
the ground station.
As some tiltrotor systems need a certain tilt angle of their motors in oder to spin up freely,
this commit introduces an additional parameter VT_TILT_SPINUP and sets the motor tilt to
this value if disarmed or within 1s since arming.
The spinup consists of 2 phases:
1st phase fixed tilt (duration hardcoded to 1s)
2nd phase transition from spinup tilt to multicopter tilt (hardcoded to 0.5s)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
If the user disconnects USB we reboot the system to bring it back into a nominal condition before arming. Otherwise we would either have the USB stack running without a cable connected (code running for no reason, which is violating the principle of not running unnecessary code in aviation). Or we would not allow to arm at all if USB was ever connected, which can be confusing if the system is powered off a battery.
Before _was_landed was set to the same value as the current
_land_detector.landed, thus outside of the update condition,
_was_landed && !_land_detector.landed could never be true.
This affects setting the home position, which is now set upon arming AND
upon takeoff.
If arming and already !landed, _have_taken_off_since_arming will not be set
and thus auto-disarm after 10s will be triggered (with default config).
This can only happen due to quick state changes, as land detector generally
sets landed=true if !armed.
When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.
MAVLink continues to work after reconnecting USB.
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.
Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
Previously if in a cycle only a disconnected battery status updated, the
battery health state would switch to unhealthy during that time.
Fixes intermittent 'Arming denied! Check battery' preflight failures on
v5x with 1 power module connected.
* Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery.
* Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery.
As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A.
But with proper treatment, it could be extended with little accuracy loss.
This factor can be set for individual battery system with available information.
* Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery
directly. Therefore it does not have to be computed like before.
* State of Health introduced. Proper SMBUS battery should provide SOH value.
* Max error: this shows estimation error of BMS.
* Enhancement: With smart battery, precise estimation of time remaining is provided
with impedance track. It is unit of minute, so 60 seconds multiplied.
Update rate of this is not fast, but very useful.
Co-authored-by: Hyon Lim <lim@uvify.com>
