According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
This time including the message versioning and translation.
There was a race condition: for example when an external mode disabled
failsafe deferring, that then triggered a failsafe, while the mode executor
immediately sends a command (to e.g. switch modes).
In that case the failsafe got triggered but the mode switch was still
allowed.
This was because of the processing ordering:
- mode updates (and propagating the failsafe_action_active state)
- failsafe updates
- command handling
This patch makes sure failsafe_action_active is set immediately after
updating the failsafes.
Previously, when deferring was active and e.g. RC loss was triggered, and
RC regained, the action was not cleared, as the RC loss action only clears
on mode switch/disarm (when set to RTL for example).
When deferring was then disabled, the RC loss failsafe would still trigger.
This changes the behavior to immediately remove those actions when
deferring is active.
It also ensures to reset the Hold delay when deferring is disabled and no
failsafe is being deferred.
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
When a mission finishes with an RTL command, there's a race condition
between:
1. RTL command setting user_mode_intention RTL
2. Mission completion logic forcing LOITER
The auto-loiter transition was checking current nav_state (which is
still AUTO_MISSION) instead of any pending user_mode_intention,
causing it to override the RTL request.
Fix: Only auto-transition to loiter if no mode change is already
pending.
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
Replaced the local variable landed_amid_mission with the class member _mission_in_progress for consistency and to reduce redundancy.
No functional change.
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
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.
Low - Critical
Critical - Critical
Emergency - Emergency
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
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.
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>
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
* 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
Matthias Grob