1d7791dad6
commander: monitor GPS validity and EKF2 dead reckoning
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- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
2022-02-22 09:46:21 -05:00
6de5d24e00
Added VTOL Takeoff navigation mode ( #19027 )
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* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
2022-02-15 14:56:57 +01:00
ae0bb8371d
Commander: message planned battery action with warning together
2022-01-31 20:27:06 -05:00
405852b5c8
Commander: only disallow RC override during battery failsafe delay
2022-01-31 20:27:06 -05:00
5ec21835a4
Commander: ensure low battery failsafe flying unatended without GPS
2022-01-31 20:27:06 -05:00
1911ec0085
Commander: fix user messageing for low battery failsafe delay
2022-01-31 20:27:06 -05:00
955aad0dfb
Commander: consistent hysteresis initialization
2022-01-31 20:27:06 -05:00
d10f9030ad
Commander: add delay before executing low battery failsafe action
2022-01-31 20:27:06 -05:00
3af315f2c3
Commander: change battery failsafe to return action instead of executing
2022-01-31 20:27:06 -05:00
8eed43b515
Commander: put battery warning and failsafe action in separate functions
2022-01-31 20:27:06 -05:00
ad447ab223
commander: respect control mode for prearm requirements
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- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
2022-01-31 09:48:37 -05:00
3f25349eb9
commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR
2022-01-25 18:44:58 -05:00
8a01135a93
Commander: more changes to use events with escs and battery failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
d122513197
extend support for Battery status message
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
b3d830dd11
Mantis: move power off tune to commander
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This way we don't allocate inside the interrupt context.
2022-01-10 23:04:10 -05:00
aa007dadee
commander: fix emergency power off
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From what I can see the CONFIG_BOARDCTL_POWEROFF is not really used
anywhere, however, the BOARD_HAS_POWER_CONTROL is something that is set,
e.g. for the Mantis, to allow power off.
2022-01-10 23:04:10 -05:00
6301fa35c1
commander: add command to power off
2022-01-10 23:04:10 -05:00
71d8b15b73
commander: fix COM_HOME_EN missing case
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- VEHICLE_CMD_COMPONENT_ARM_DISARM is yet another path that calls set_home_position()
2022-01-09 20:52:07 -05:00
8e04934eab
commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well
2021-12-24 20:06:13 -05:00
7d7d707db9
commander: add COM_HOME_EN parameter to enable/disable home position
2021-12-23 15:46:31 -05:00
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
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Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
986cf288da
dataman: remove obsolete persistence and reset reason
2021-12-12 12:06:35 -05:00
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
a9b9362fea
commander: handle system broadcast commands
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This changes the command handling logic to accept commands which are
targeted at any system, signaled by target_system set to 0.
2021-12-01 20:17:35 -05:00
55dfbdc6a6
Commander: fix remaining flight time user messaging
2021-11-30 19:46:22 +01:00
c5fb68b7a1
Commander: force disabling the arm stick gesture when arm switch is in use
2021-11-25 07:56:35 +01:00
c522a8b15a
Compute RTL time and react if lower than flight time
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- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
2021-11-24 14:10:24 +01:00
5489005e0b
Commander: call battery_status_check on update instead of early return
2021-11-24 14:10:24 +01:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
0153c870d2
Commander: make sure yaw airmode is not possible while arm gesture is enabled
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It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.
It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
2021-11-23 16:03:46 +01:00
577d926639
commander: improve angular velocity validity and message
2021-11-22 11:27:45 -05:00
f912ee2c8b
Commander: send out parachute MAVLink command when kill switch engaged
2021-11-19 17:15:04 +01:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
4c6621f6cf
Commander: Allow arming a rover with the throttle stick in the middle
2021-11-19 10:10:32 +01:00
439400f76e
commander: don't ack gimbal commands
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- this leads to an unnecessary amount of acks which can in turn overflow
the orb queue
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-13 11:59:28 -05:00
17ad7071c3
fix the quaternion normalization issue
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Be course of the numerical computing error . The normalization of the quaternion can't always equal to 1 precisely. It could occasionally trigger the error"attitude estimate no longer valid". So enlarge the threshold to 1e-6f. That keeps it silence.
2021-11-12 16:31:40 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
7e4a079e09
Commander: report when RC selected mode is not available
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
38ab7e6ab9
Commander: separate function for action request execution
2021-11-09 16:05:25 +01:00
0a02d8e774
Commander: handle denying disarm when not landed centrally
2021-11-09 16:05:25 +01:00
dcd26bd2b8
Commander: fix "Manual control lost" showing double in QGC
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because of the missing tab in the deprecated message.
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
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Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
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This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
2021-11-09 16:05:25 +01:00
Daniel Agar