* Enable offboard gliding position setpoints
Adds a capability to make the vehicle glide when given position setpoints.
Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE, POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan
* Handle nans for curise_throttle
- vehicle_air_data won't necessary have an update every iteration and these adjusted throttle values aren't stored
- this only would have worked in the past because the vast majority of systems were using the ms5611 barometer with a publication rate that's faster than the controller
- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.
This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.
This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
- takeoff help is used for fixed wings, it increases the altitude setpoint
after a launch. A vtol does not need this as it's already sufficiently
high up in the air.
Signed-off-by: Roman <bapstroman@gmail.com>
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
Silvan Fuhrer