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2832 Commits

Author SHA1 Message Date
Hamish Willee
440d76b839
commander_params.c - COM_QC_ACT is action not command (#24541) 2025-03-19 16:35:05 +01:00
Julian Oes
42d6298dbf commander: fix accel sensor present flag 
This must have been a copy paste mistake.
 2025-03-13 07:13:08 +01:00
Beat Küng
a3c387fa85
fix commander: separate state tracking for battery_unhealthy failsafe (#24493) 
There is already another check for battery_unhealthy, so a separate state
and ID are required.

Fixes the error:
ERROR [failsafe] BUG: duplicate check for caller_id 74
 2025-03-12 16:46:02 +01:00
Silvan Fuhrer
c4ade17b38
Commander: Never clear link loss failsafe automatically, also not when failsafe is Hold (#24317) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-12 12:46:42 +01:00
bresch
2aaa54037c ekf2: split gnss pos/vel flags 
They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
 2025-03-11 14:14:40 +01:00
Silvan Fuhrer
d857a278ff Commander: use is_ground_vehicle() consistently instead of checking vehicle_type 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Silvan Fuhrer
7cb6464cfb VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
bresch
2d1652f499 Commander: fix parachute trigger 
Setting "lockdown" disables the actuators. In this mode,
"force_failsafe" has no effect as the actuators are disabled, so the
parachute is not getting released as it requires the output to change to
its failsafe value.
 2025-03-03 15:41:39 +01:00
Sebastian Domoszlai
b5f37c9fa6
Simplify Battery-related Enum Naming (#24265) 
* Simplify battery-related enum naming

* Fix mistakenly removed string in enum names

* Fix missing renamings

* Update outdated file

* msg: Increase battery_status version since the enum naming was changed

* Revert message version increase

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2025-02-28 11:42:40 -09:00
Marco Hauswirth
1f5a9e526c dont change mode_change-flag if mode was not allowed to change 2025-02-28 14:23:58 +01:00
Silvan
14941bc270 Commander: handle mode change rejection the same for RC and MAVLink 
Previously, when requesting a mode switch to Position without a valid
position estimate through an RC button, the mode change to Position mode
was not rejected if COM_POSCTL_NAVL was set to 1 and instead the system
switched to Altitude mode.
If the mode request instead came in through MAVLink it was rejected.
This commit aligns the two ways of changing a flight mode.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-28 14:22:36 +01:00
Beat Küng
93b8bc1515 commander: add hysteresis for avionics power low/high check 
We had a setup where the voltage was right at the threshold and the check
toggled continuously.

It still triggers immediately, and then keeps for 15 seconds
 2025-02-27 22:24:28 -05:00
Marco Hauswirth
84134e5123 clean up variable declaration 2025-02-26 13:48:59 +01:00
Marco Hauswirth
2169ea561b
PR: add optical flow arming check (#24375) 
* add optical flow arming check

* removed deprecated mavlink_log_critical

* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.

* restructure if/else blocks
 2025-02-26 08:41:12 +01:00
Silvan Fuhrer
3119510f25 Remove health_component::avoidance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Silvan
1f2dba68d2 remove avoidance library and logic 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
bresch
fe5c887895 mag check: do not require mag 0 
sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
 2025-02-14 16:12:20 +01:00
bresch
e3fd50667d Mag cal: automatically disable internal mags if external ones are available 2025-02-14 16:12:20 +01:00
Daniel Agar
bd2a009217 commander: remove MC nav test 2025-02-05 11:58:04 -05:00
Hamish Willee
9e5cfa330a Commander: Quick calibration supports mag too 2025-02-04 21:58:03 -05:00
Matthias Grob
4c2e69b2e6 estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration 2025-01-30 18:45:10 +01:00
Matthias Grob
f142363575 HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes 
Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
 2025-01-30 18:45:10 +01:00
Matthias Grob
7e47605871 batteryCheck: separate event messages for low, critical and emergency battery states 2025-01-29 15:32:47 +01:00
Bertug Dilman
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed (#24249) 2025-01-28 14:33:15 +01:00
Matthias Grob
5e2848312d Commander: start timer for auto disarm after spoolup 2025-01-14 14:55:34 +01:00
Silvan
8070a9b362 Commander: remove not used include of blocks.hpp 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-06 09:24:29 +01:00
Matthias Grob
5cf85e320a offboardCheck: acceleration setpoints only require vehicle attitude control 2024-12-19 17:58:38 +01:00
Beat Küng
aca5a70964 standard_modes: add vehicle-type specific standard modes 
See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE.
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
 2024-12-18 07:12:36 +01:00
Daniel Agar
8a18e5b00c commander: accelerometer calibration respect rotation 
- accel cal use Accelerometer calibration class to fully respect
   rotation (both internal and external sensors)
 2024-12-17 22:26:01 -05:00
Matthias Grob
d416cd2a6c Commander: remove COM_POS_FS_DELAY 
A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
 2024-12-03 17:31:56 +01:00
Perre
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout (#24069) 
* Avoid unsigned integer underflow

* ESC check: add brackets to timeout for readability

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2024-12-03 17:14:09 +01:00
Beat Küng
8ccd43dc1b refactor commander: remove unused argument is_armed in Report class 2024-11-21 14:16:22 +01:00
Beat Küng
be300b767d commander: ensure health report is always sent out before failsafe notificaation 
As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
 2024-11-21 14:16:22 +01:00
Matthias Grob
044d13635d Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID" 
Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
 2024-11-21 11:38:23 +01:00
Matthias Grob
53d920ea33 batteryCheck: fix enabling circuit breaker still causing battery failsafes 
Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
 2024-11-20 13:25:20 +01:00
Silvan Fuhrer
08155d20f8 estimatorCheck: have low position warning as health component failure to fix reporting 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-15 15:32:53 -05:00
Silvan Fuhrer
3093c593a5 Commander: put action for low position estimation accuracy into parameter 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-15 15:32:53 -05:00
Matthias Grob
651552c9b8 Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability 2024-11-12 21:21:40 -05:00
RomanBapst
2f69f3fc2e mode_requirements: require only relaxed local position for auto land, in order 
to enable auto land with optical flow

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-11-12 15:24:25 +01:00
Silvan Fuhrer
c342f9baf7 Commander: remove mode_req_local_alt requirement from DESCEND 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-25 14:06:00 +02:00
Marco Hauswirth
0c451552c7
EKF2: add validity flags to global pos message (#23787) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-10-23 10:19:04 +02:00
Hamish Willee
808153b049
COM_THROW_SPEED - arm or start motors clarification (#23822) 2024-10-23 13:13:56 +11:00
RomanBapst
a0e6f9cd70 commander: try to fix arm authorization spamming 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-10-14 14:18:00 +03:00
Silvan Fuhrer
34f65682ad Commander: remove -local- from failsafe string to make it simpler to understand 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-10 10:28:59 +02:00
Silvan Fuhrer
9cb12d8e8e HealthAndArmingChecks: improve messaging for position estimate failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-10 10:28:59 +02:00
Matthias Grob
4a08ebafbc failsafe: prevent immediate low battery failsafe for existing low battery state 
This happens when BAT_CRIT_THR allows arming with a critical battery level. With this change it still fails the checks but only warns instead of doing the failsafe action because that would immediately land the vehicle before it has taken off.
 2024-10-08 18:49:23 +02:00
Matthias Grob
7941310afd batteryCheck: allow COM_ARM_BAT_MIN to be set lower than BAT_CRIT_THR 
Which still allows to arm the vehicle even if it already has a critical battery level.
 2024-10-08 18:49:23 +02:00
Matthias Grob
a5b17f14b0 batteryCheck: refactor to consistent parameter variable naming 2024-10-08 18:49:23 +02:00
alexklimaj
602042dd5c failure detector use per index esc current 2024-09-30 10:11:34 +02:00
Daniel Agar
332b7bec27 commander: ignore REQUEST_CAMERA_INFORMATION 
- add answer command logging
 2024-09-27 10:33:37 -07:00