- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
- consolidate scattered arming requirements in `arm_disarm()`
- there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
- if geofence enabled require valid home before arming
- throttle requirements for manual modes
- remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
- let the preflight/prearm checks respond directly in most cases
Co-authored-by: Matthias Grob <maetugr@gmail.com>
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
This allows to still fly missions completely without RC
but reacts if RC is lost during the mission because
the safety pilot expects to be able to take over.
Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
-check for valid airspeed_validated (declared valid plus updated less than 1s ago)
-added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max
airspeed limit to half of stall airspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
- ekf2 publish estimated bias limits in estimator_sensor_bias
- preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
- 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
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
Matthias Grob