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
3d87982bba
Commander: reintroduce last stick position
2021-03-04 10:41:21 +01:00
cdadfabccc
Bring back RC throttle override with a parameter to disable it
2021-03-04 10:41:21 +01:00
c2151cb4fa
Commander: remove unused arm mode command residue
2021-02-26 07:38:02 -05:00
46b9acac6d
mag_calibration: fix typo
2021-02-24 17:27:31 +01:00
1b8a3079e6
Update commander_params.c
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Better documentation boolean settings, removed duplicate boolean.
2021-02-22 11:17:16 -05:00
90f5d7338c
Commander: Relax pre-arm check for EKF
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The previous testing ratios could lead to extremely tight pre-arm acceptance.
2021-02-22 11:17:16 -05:00
f12d368a64
Commander: Document arming check params
2021-02-22 11:17:16 -05:00
87f98f096f
Commander: Respect position circuit breaker
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This ensures that commander respects the position check circuit breaker and allows arming without position.
2021-02-22 11:17:16 -05:00
e6b1775bb6
vmount/navigator/mavlink: gimbal v2 changes
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This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
2021-02-17 13:54:34 -05:00
5abf29d93c
commander: auto TAKEOFF to LOITER/MISSION minor fix to avoid failsafe confusion
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- base on nav_state rather than main_state
2021-02-16 13:02:14 -05:00
0618f048f2
commander: use control mode flags and cleanup arm_disarm
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- 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 >
2021-02-15 12:03:21 -05:00
a002a07ed5
sdcardCheck: minor refactor
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I was late for the review.
2021-02-12 00:17:43 -05:00
9d3ff12a94
commander: reword nav failure message
2021-02-11 16:20:30 -05:00
5726e8e0a3
commander: do not fail nav check on GPS position glitch
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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.
2021-02-11 16:20:30 -05:00
b1b032d6e1
commander: rework nav failure check
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Allows to recover from a failed test with a stricter test
2021-02-11 16:20:30 -05:00
ef444da689
BUGFIX Hardfault Commander Calibration
2021-02-09 15:20:50 +01:00
d4bea8323f
PreFlightCheck: Detect missing FMU SD card
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-05 20:14:48 +01:00
6633ff5089
commander: vehicle_status_flags add attitude and angular velocity
2021-02-05 20:11:13 +01:00
f13c3a7d44
state_machine_helper: stop mission on RC loss
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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.
2021-02-04 10:54:52 +01:00
f87dbe57c2
state_machine_helper: don't finish mission if all links are lost except for when no reaction is configured
2021-02-04 10:54:52 +01:00
cd51cf2996
state_machine_helper: handle zero failsafe_timestamp
2021-02-04 10:54:52 +01:00
b44b770972
commander: RC loss delay renaming/reordering
2021-02-04 10:54:52 +01:00
e2e5fc85f8
state_machine_helper: fix infinite delay with intermittent failsafes
2021-02-04 10:54:52 +01:00
1736be41cf
state_machine_helper: only apply delay on manual piloted rc loss cases
2021-02-04 10:54:52 +01:00
e65cc6bd6f
state_machine_helper: do failsafe delay for all modes
2021-02-04 10:54:52 +01:00
26d74bf57d
Commander: enable failsafe delay for position and mission mode
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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.
2021-02-04 10:54:52 +01:00
fa45eacea3
Fix and unify the maximum allowed PDOP references
2021-02-04 10:20:22 +01:00
c2154df2f6
ekf2checks: split GPS checks from AHRS checks - minor cleanup
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-02-01 09:02:19 +01:00
834ac38841
fix condition in ekf2Check
2021-02-01 08:55:41 +01:00
Matthias Grob