59b70a881d
commander: temporarily increase worker thread stack substantially
2021-04-23 22:13:12 -04:00
d631a5d39f
Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry
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COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
Co-authored-by: Beat Küng <beat-kueng@gmx.net >
2021-04-22 13:46:08 +02:00
bff99f9794
Commander:esc_checks minor improvements
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
371fa98579
Commander/preflight checks: Add monitoring to ESC failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-04-22 13:46:08 +02:00
789d91900d
commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing
2021-04-21 14:55:04 +02:00
bd4839e855
commander: changed msg "connection to GCS lost" from critical to info
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update
2021-04-15 11:29:02 -04:00
381c97d3c6
Commander: baro check: only report failure of mandatory instances
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-04-12 09:27:12 -04:00
aa94a60043
COM_ARM_WO_GPS - values round the wrong way
2021-04-06 22:10:02 -04:00
c6a0161047
commander: COM_PREARM_MODE disable by default
2021-04-03 20:15:05 +02:00
1ec8ce58c7
Commander: Increase auto-disarm timeout to 25 seconds after arming
2021-04-02 09:37:40 +02:00
82f319a84a
Commander: Add support for pairing via commandline
2021-04-01 09:56:09 -04:00
7abce87ae4
commander: add COM_OBC_LOSS_T for setting onboard computer loss time-out
2021-03-31 13:25:01 +02:00
b7600f4e4d
Commander: check_posvel_validity use return value
2021-03-30 22:33:01 -04:00
29e1e0905c
Commander: switch main_state functions to pass by reference
2021-03-30 22:33:01 -04:00
531de5c588
Commander: switch all state_machine_helper functions to pass by reference
2021-03-30 22:33:01 -04:00
d97fba67e5
Commander: switch helper functions to pass by reference
2021-03-30 22:33:01 -04:00
0fa91f7cb0
commander: centralize main_state strings and simplify main state change attempts
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* commander: centralize main_state strings and simplify main state change attempts
2021-03-30 17:56:28 +02:00
18be1bacdc
state_machine_helper: automatically initialize to assist mode if using mavlink manual control
2021-03-30 17:56:28 +02:00
b001865e5c
Commander: clean up logic for flight mode transitions and add joystick mode initialization
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-03-30 17:56:28 +02:00
f9af1bbe2d
PreFlightCheck: Check if SD card is present only once and store the result
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statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
2021-03-30 08:20:49 +02:00
c2350c06c1
commander: ManualControl avoid unnecessary copy
2021-03-30 08:19:07 +02:00
ace6f81c93
commander: report estimator mag fault detection to ground station
2021-03-25 12:57:36 -04:00
2c5342acd4
commander: increase nav_test_failed hysteresis time
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This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
2021-03-25 12:57:36 -04:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
a13459858d
commander: improve logic for ekf2 preflight check
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With this change we prevent the case where arming silently fails within
the first 10 seconds after boot.
Also, we now set the sensors as healthy as soon as the ekf is healthy,
and don't wait 10 seconds without actually checking.
2021-03-19 15:58:14 -04:00
2f024a9a8a
commander: pass in correct time since boot
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This fixes the case where the preflight check fail right after the start
and report "sensors unstable".
2021-03-19 15:58:14 -04:00
e9725a5fa7
Merge pull request #17089 from garfieldG/pr-safety_switch_status
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send safety switch status to ground
2021-03-17 05:23:31 +01:00
c67d85945b
[commander] more detailed print_status
2021-03-16 01:00:55 -04:00
2257c3767e
simple gyro auto calibration module
2021-03-15 09:46:47 +01:00
ceb445caa0
Run mc_pos_control for acceleration control mode flag
2021-03-11 10:37:03 -05:00
a11d2207e4
commander: simplify failure detector is attitude stabilized check
2021-03-09 10:47:00 -05:00
bb12fce66c
delete RATTITUDE flight mode
2021-03-09 10:47:00 -05:00
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
66beffa2f3
Enable pre-arm checks in HIL modes
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by airframe parameters HIL mode will still disable:
- usb check
- power checks
- safety switch
2021-03-05 21:23:31 +01:00
077afdf9aa
commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL)
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If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
2021-03-05 10:07:36 -05:00
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
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- 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
2021-03-05 09:39:46 -05:00
5bbc66f3af
ManualControl: name, message, comment, const qualifier improvements
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addressing review from @bresch, @julianoes and @JonasVautherin
2021-03-04 10:41:21 +01:00
2f39651f77
ManualControl: use current sample for timeout check
2021-03-04 10:41:21 +01:00
a43a829fdf
Commander: gate manual control setpoint processing on new data
2021-03-04 10:41:21 +01:00
935423b563
ManualControl: start to distinguish rc arming methods
2021-03-04 10:41:21 +01:00
c16b48fd2c
Commander: Replace manual_control_setpoint use
2021-03-04 10:41:21 +01:00
49c240f49e
Commander: simplify rc arming disabling logic
2021-03-04 10:41:21 +01:00
ca3bfb5ea1
ManualControl: simplify multicopter manual thrust logic
2021-03-04 10:41:21 +01:00
a796903e21
ManualControl: fix arm button use case
2021-03-04 10:41:21 +01:00
37ea78a7ff
Commander: move rc arming to ManualControl class
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Separating the different arming methods is the next step.
2021-03-04 10:41:21 +01:00
00a4133042
ManualControl: make members private again
2021-03-04 10:41:21 +01:00
ee2d408edc
Commander: move rc availability to ManualControl
2021-03-04 10:41:21 +01:00
0e1f1a9f57
Commander: use parameters directly in ManualControl
2021-03-04 10:41:21 +01:00
dda895c94b
Commander: split out rc override logic into ManualControl
2021-03-04 10:41:21 +01:00
a4da15edf5
Commander: RC override back to stick change
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Instead of deflection mainly because:
- Spring loaded throttle -> bad user experience
- Stale RC data -> Vehicle not savable
2021-03-04 10:41:21 +01:00
Daniel Agar