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1578 Commits

Author SHA1 Message Date
Lorenz Meier
3b71c70583 Commander: Do not switch land detection state when not armed 
This is important to have the probation times set up correctly and to silence land detected messages for systems that are not actually flying and just on the bench.
 2018-01-01 15:32:37 +01:00
acfloria
1aebc69fed commander: Allow manual override in stabilized mode for a fixed-wing. 2018-01-01 14:28:36 +01:00
Lorenz Meier
715b571dac Commander: Add hint about ongoing rewrite 
It's important that any reader of the file knows about the ongoing refactoring.
 2018-01-01 13:11:52 +01:00
Dennis Mannhart
a649bbebb7 commander: switch to hold or mission once takeoff is finished (#8020) 
* add COM_TAKEOFF_ACT to optionally switch to mission after takeoff
 2017-12-31 13:58:20 -05:00
Lorenz Meier
cf55901ac9 Calibration timeout: Triple to 90 seconds as the user can now cancel the routine 
We timed out earlier to allow users to abort, but now that we can cancel we do not need to enforce such a time limit.
 2017-12-31 16:37:02 +01:00
Lorenz Meier
2167457e2e VTOL status: Do not force a commander status change 
Before the VTOL status would automatically force a commander state update all the time. This saves effort and makes sure the system only updates when it should.
 2017-12-31 16:37:02 +01:00
Lorenz Meier
90b4afebb5 Commander: properly separate preflight check and prearm checks 
We were running pre-arm checks before when not arming, which led to annoying error messages on vehicles that were on the bench or serviced on the ground. Now we really only run them when trying to arm.
 2017-12-31 16:37:02 +01:00
Lorenz Meier
ddf0ecfc38 Airspeed calibration: Ensure that the calibration state is stored correctly 
This is necessary due to sensors that are so accurate that they have no offset at all.
 2017-12-31 16:37:02 +01:00
Lorenz Meier
074636a8ae Commander: Check for preflight errors in order 2017-12-31 16:37:02 +01:00
Daniel Agar
32a450f5dd detect_orientation make constants constexpr 2017-12-31 09:47:51 -05:00
Daniel Agar
344cf83549 delete unused SENSORIOCCALTEST 2017-12-31 09:47:51 -05:00
Lorenz Meier
6a701adf3c HITL: Remove hard requirement for airframes 2017-12-30 11:24:22 +01:00
Lorenz Meier
bb516be61e Commander: Enforce correct system configuration for HITL 
This is important to ensure that users are not trying to use HITL with airframes that will not work.
 2017-12-30 11:24:22 +01:00
Lorenz Meier
0ae1737e85 Commander: Fix HITL state initialization that prevented pre-flight checks to pass in HITL mode on v1.7.2 
This is a minor change that fixes the ordering of the initialization.
 2017-12-30 11:24:22 +01:00
Lorenz Meier
644db1b03f State machine helper: Fix typo 2017-12-30 11:24:22 +01:00
Lorenz Meier
f69a6af989 Commander: increase stack to ensure enough margin remains 2017-12-30 11:24:03 +01:00
Daniel Agar
fc7c8b4b89 vehicle_status delete engine_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar
17e17d79dd commander delete unused vtol_transition_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar
d0fba8bf8b commander delete unused data_link_lost_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar
c0be801b5c commander delete unused rc_signal_lost_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar
5a6cde41d5 commander delete unused gps_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar
ca804a2308 commander delete unused sensors check 2017-12-27 02:41:10 +08:00
Daniel Agar
294fbc46a9 commander initial class structure 2017-12-27 02:41:10 +08:00
Daniel Agar
5d6edcc15d commander consolidate periodic state publishing 2017-12-22 10:42:14 -05:00
Daniel Agar
043ad3c33e commander vehicle_status_flags only publish if changed 2017-12-22 10:42:14 -05:00
Paul Riseborough
176738c688
commander: add missing px4_close (#8513) 2017-12-22 08:57:06 +11:00
sanderux
a8c26265b5 Check manual home set when setting during arming 2017-12-20 10:19:07 +01:00
Daniel Agar
375ae991bc commander DO_SET_HOME populate local coordinates 
- unify commander home update
 2017-12-20 10:19:07 +01:00
sanderux
cf7ad67678 Check home reset in local frame 2017-12-20 10:19:07 +01:00
sanderux
4e175d13c4 Set manual_home when home set manually 2017-12-20 10:19:07 +01:00
sanderux
74868f8c2b Reset home position when landed and disarmed 2017-12-20 10:19:07 +01:00
Daniel Agar
a4be7ae7d0 commander mission_result check time and instance 2017-12-20 17:05:25 +08:00
Paul Riseborough
64a06d8523
commander: Fix pre-flight delta velocity bias check level (#8446) 
Previous check level was less than the max achievable by the estimator using current default parameters making the check ineffective.
 2017-12-12 11:41:42 +11:00
Paul Riseborough
8d89e5e40b commander: rework centralise home position publication 
This fixes a bug preventing use of auto and RTL when taking off with GPS.
 2017-12-07 08:20:16 +00:00
Paul Riseborough
41f3e1f9b4 commander: centralise home position publication 2017-12-07 08:20:16 +00:00
Paul Riseborough
934a7af579 commander: Set home alt to EKF origin if global navigation commences in-flight 
The EKF origin height is calculated to be where the vehicle was at takeoff and is suitable as a surrogate home altitude.
 2017-12-07 08:20:16 +00:00
Paul Riseborough
fa5010109e commander: Reset nav test when vehicle is disarmed 
Previously, the only way to clear a failed nav test was to reboot. This hindered testing.
 2017-12-04 09:09:54 +00:00
Paul Riseborough
d783bc8ae1 commander: Check for nav divergence due to bad yaw at takeoff 
This check is performed for up to 30 seconds after takeoff or until  a horizontal speed of 5 m/s has been achieved.
If the vehicle is not landed and the check is active, then the yaw will be declared as failed if the velocity innovations fail for a continuous period of 1 second.
This will cause the local and global position and velocity validity to be latched false to prevent unsafe use of position control modes.
 2017-12-04 09:09:54 +00:00
Paul Riseborough
afe857dfe6 commander: rework preflight GPS checks 
Fix the bug allowing arming without GPS checks passed in the first 20 seconds after gaining GPS lock when COM_ARM_WO_GPS is set to 0
Allow 10 seconds after boot for EKF quality checks to pass before reporting failure to allow EKF to stabilise.
Move GPS quality checking and reporting to after all innovation and bias checks.
Make messages more informative.
Add missing GPS speed accuracy check.
 2017-12-04 09:09:54 +00:00
Paul Riseborough
c09eecbab1 commander: prevent ekf checking being bypassed if GPS checking is disabled 2017-12-04 09:09:54 +00:00
Paul Riseborough
ddfe077f7c commander: strengthen pre-flight fail checking 
The commander checks use instantaneous values which are vulnerable to false negatives  or positives with noisy data or transient faults.

This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
 2017-12-04 09:09:54 +00:00
Lorenz Meier
1b7d3883a4 Commander: Obey override / manual reversion mode from external override device 
This change will force commander into manual reversion mode when an external override device (like PX4IO) overrides the system externally. This is not a functional change on the outputs, as they were in override mode even without this patch. However, this change ensures that the system state is consistent with the output state and also ensures that the pilot and operator has better situational awareness when he / she triggers the manual reversion without realizing it.
 2017-12-02 11:39:52 +00:00
Lorenz Meier
4abc578932 Commander: State machine helper documentation 
Future contributors need to know about the time constraints that the execution of this function needs to satisfy.
 2017-12-02 11:39:52 +00:00
Nicolas de Palezieux
a6ae1fbcaa vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically (#8377) 2017-11-27 15:43:39 -05:00
Robbie Sharma
ab51a41793 Removed [cal] references from calibration_log_critical() routines. 2017-11-24 08:12:37 +01:00
Beat Küng
9c8dc3941d commander: fix 'commander arm' not working in HIL mode 
This got introduced with 61b0a81bf9. Due to the removed startup_in_hil flag,
this check does not work anymore, so remove it completely.
 2017-10-30 20:53:58 +01:00
Daniel Agar
8b7de092a2 sensors delete unused CAL_BOARD_ID 2017-10-29 16:24:31 +01:00
Beat Küng
a2fd9ef2d0 PreflightCheck: use correct type for params (int -> int32_t) 2017-10-27 10:43:15 +02:00
Beat Küng
dbb0414e01 commander: remove unused SYS_AUTOSTART param 2017-10-27 10:43:15 +02:00
Beat Küng
8cbd772489 commander: fix wrong parameter types (these are defined as float, not int) 2017-10-27 10:43:15 +02:00