-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
Currently if you configure a battery capacity the battery library calculates a remaining flight time and you by default get an RTL when the flight time - return time is running out.
Since the state of charge threshold based battery failsafes `COM_LOW_BAT_ACT` are disabled by default I was asked to also disable the flight time based failsafe to be consistent.
Within the first 2min of a flight, check if the integrated GNSS vertical velocity and the baro
measurements disagree with the reported GNSS altitude, and in that case update the
set home position altitude to cancel out GNSS altitude drift.
* prevent re-init when reaching negative altitudes
* only allow correction during the first 120 second after takeoff
* add dependency to COM_HOME_EN parameter. reset vel-integral for multiple takeoffs
To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
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.
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
- these are effectively redundant with the actual tuning (noise & gate)
in the estimator, plus most users have no idea why they'd be
adjusting these other than to silence an annoying preflight complaint
- remove ekf2 "PreFlightChecker" with hard coded innovation limits
- ekf2 preflight innovation flags are now simply if any active source
exceeds half the limit preflight
We had a case where someone took off with an experimental
system with 100% RAM usage on the embedded system
without noticing. This lead to problems during flight.
Since we already have a CPU load check it seems natural
to also check the reported RAM usage.
* Commander: make low remaining flight time configurable and do not clear
- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low
* battery check: add hysteresis for declaring battery_low_remaining_time false again
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
Matthias Grob