Dennis Mannhart
d0d6b39602
This fix is needed because of the pitch_min and time_inside union from mission_item.
...
Without this fix, the function "get_time_inside" from navigation.h looses its purpose
to distinguish between takeoff and other waypoints.
2016-12-29 03:08:37 +01:00
Simon Wilks
647fafe9bc
Allow for immediate cruise speed changes at any time during a mission.
2016-12-28 11:53:19 +01:00
Andreas Antener
e0fc0a847c
Mission:
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- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
2016-12-28 11:53:19 +01:00
Sander Smeets
3649def02e
Fix heading hold for ekf2 mission takeoff
2016-12-27 13:05:26 +01:00
Daniel Agar
c17c8884d1
implement MAV_CMD_DO_LAND_START
2016-11-19 15:48:10 +01:00
Daniel Agar
8ac4dd04ae
implement MAV_CMD_MISSION_START
2016-11-06 15:24:34 +01:00
Sander Smeets
39cc75b4a0
Rebase of vtol_land_weathervane patch
2016-11-04 20:29:45 +01:00
Lorenz Meier
05bc9acfb7
navigator: Wrap get time inside into function call and set time inside to zero
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This ensures that the dual-use of the pitch_min / time_inside field is handled
properly between takeoff and non-takeoff items. Flight tested in SITL.
2016-10-23 16:26:03 +02:00
Lorenz Meier
9821499113
navigator / mission item: Compress fields into bitfield
2016-10-23 16:26:03 +02:00
Beat Küng
ce0d31b7d9
mavlink log: ensure all critical & emergency msgs are also logged to console & ulog
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Critical messages that the user sees should also go to the log file, so
that the exact error (with time) can later be analyzed from the log file.
2016-09-30 13:50:51 +02:00
Daniel Agar
7c0a567eaa
navigator explicitly invalidate position setpoint
2016-09-26 23:11:08 +02:00
Daniel Agar
7b03bce416
Navigator mission FOH use previous loiter altitude
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-the previous item altitude wasn't valid if switching from LOITER ->
MISSION
-fixes #5395
2016-09-26 23:11:08 +02:00
Julian Oes
997ae98444
navigator: reset cruise speed when out of mission ( #5494 )
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This reset the cruise speed which can be set by mission items/waypoints
to set a custom speed. Once, switched out of mission, it makes sense to
use the speed set by the param again.
2016-09-26 22:54:15 +02:00
Julian Oes
4453e4201b
navigator/mavlink: fixes for mission item reached message ( #5486 )
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* navigator/mavlink: always send last reached item
Since we can't rely on mavlink that every message arrives, it makes
sense to continuously send the last reached waypoint.
* navigator: don't report reached for takeoff
If a takeoff waypoint has been inserted, we should not report that we
reached a mavlink mission item because we actually have not.
2016-09-13 21:52:28 +02:00
Andreas Antener
2e44fe9edd
update previous waypoint before transition command
2016-08-12 11:50:38 +02:00
Daniel Agar
2a15578f8d
FW implement MAV_CMD_DO_GO_AROUND
2016-08-06 20:56:53 +02:00
sander
9398a4819f
Only check mission when needed
2016-08-06 20:40:41 +02:00
Julian Oes
3e87ec5153
navigator: mission check refactor
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The mission feasability checker was called with the same arguments
twice which made it hard to understand when a mission is marked valid.
The mission check should run in these two cases:
- When initializing (if home comes up) if there is already a mission saved.
- When the mission gets updated.
2016-08-06 20:39:56 +02:00
Lorenz Meier
bcd5f98cb1
Navigator: Fix mission feedback and wording
2016-08-06 10:34:20 +02:00
Lorenz Meier
37230f4c5d
Revert "navigator: mission check refactor"
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This reverts commit a956429c4c
2016-08-05 22:10:34 +02:00
Julian Oes
a956429c4c
navigator: mission check refactor
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The mission feasability checker was called with the same arguments
twice which made it hard to understand when a mission is marked valid.
The mission check should run in these two cases:
- When initializing (if home comes up) if there is already a mission saved.
- When the mission gets updated.
2016-08-05 10:17:06 +02:00
Julian Oes
a18eabead4
navigator: whitespace
2016-07-29 17:44:50 +02:00
Daniel Agar
a9cb2d2fbe
navigator mission don't report loiter if landed
2016-07-27 10:39:07 +02:00
Daniel Agar
59b4350aa0
implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup
2016-07-12 23:36:05 +02:00
Daniel Agar
07fa814597
FW vtol landing always forced ( #4939 )
2016-06-30 13:55:47 +02:00
Daniel Agar
2487dbfc92
remove Wpacked and cleanup unused warning flags
2016-05-19 21:49:34 +02:00
Lorenz Meier
65f9a86c19
Navigator: Only run FOH logic when in mission mode
2016-05-10 10:13:37 +02:00
Michal Stasiak
9db80b75f4
Auto take-off corner case: Reset work item type when landed
2016-05-03 14:04:33 +02:00
Julian Oes
50c36296fa
navigator: compile fixes after rebase
2016-04-11 18:01:49 +02:00
Julian Oes
1f44fb1efd
commander: internalize system status bools
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Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
sander
42eff31c84
Keep current altitude for vtol move to land after transition
2016-04-09 12:23:43 +02:00
Andreas Antener
7f5a2b1bac
only use the default acceptance radius for checking mission feasibility
2016-04-08 22:40:02 -07:00
sander
cbe7bd2198
Set virtual waypoint for VTOL_TAKEOFF item
2016-04-02 21:29:27 +01:00
sander
a9511478f2
Don't allow yaw updates during transition
2016-04-02 21:29:26 +01:00
sander
f9037b9ca7
Force vtol by default and correct param name
2016-04-02 21:29:26 +01:00
sander
4171e89137
Code style and commenting
2016-04-02 21:29:26 +01:00
sander
b922ceecfd
Rename VT_FORCE_VTOL to VT_NAV_FORCE_VTL
2016-04-02 21:29:26 +01:00
sander
26c8df0eb9
Sanitize vtol_takeoff behavior
2016-04-02 21:29:26 +01:00
sander
1a20de7908
Fix aligning to next waypoint for regular transition command
2016-04-02 21:29:26 +01:00
sander
3f256a778d
apply vtol_force_vtol
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remove debug output
2016-04-02 21:29:26 +01:00
sander
b99e3e0ae2
Wait for VTOL transition command to complete
2016-04-02 21:29:26 +01:00
sander
240c8fbee1
Fix VTOL_LAND to have correct SETPOINT_TYPE
2016-04-02 21:29:26 +01:00
Andreas Antener
aafeab63d5
do not try to calculate FOH altitude when distance and acceptance radius are 0
2016-04-02 21:29:26 +01:00
sander
31862be420
Workitem handling for land
2016-04-02 21:29:26 +01:00
sander
903a0cd689
Vtol takeoff/land handling in work items
2016-04-02 21:29:25 +01:00
sander
8d8c3f9683
Implement forced VTOL landing
2016-04-02 21:29:25 +01:00
sander
a713fd4197
Implemented VTOL_TAKEOFF and VTOL_LAND commands
2016-04-02 21:29:25 +01:00
James Goppert
5418e17a99
Navigator mavlink_fd rename fix.
2016-03-27 15:35:47 -04:00
Lorenz Meier
4aceb21d19
Mission: Be less chatty
2016-03-27 12:26:33 +02:00
Andreas Antener
d9cabde13e
reset mission after vehicle was in mission and then disarms
2016-03-27 12:25:47 +02:00
Dennis Mannhart