With this commit the use cases will be:
Success case:
- booting, no messages about OA, pre-arm check would fail if you try to arm and OA is not yet running
Fail case:
- if OA takes longer than timeout time defined in COM_ONB_BOOT_T, then an error message is triggered.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Since commander handles all telemetry_status the same there is no need to subscribe to multiple instances.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Major changes:
- Prevent "HIGH LATENCY DATA LINK LOST" message to appear if iridium telemetry is not used.
- Prevent "DATA LINK LOSS" mavlink messages flooding when QGC is open and then closed.
- Changed "DATA LINK REGAINED" condition (use _datalink_last_heartbeat_gcs insthead of _datalink_lost)
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
To my knowledge this hil transition function is not used anymore,
however, it makes sending the DO_SET_MODE command unnecessarily complex.
In my opinion the DO_SET_MODE command should only change the mode but
not other things like arming (already removed) and HITL state (this
commit).
Often times, I was seeing the error message "Set SYS_HITL to 1 and
reboot to enable HITL." when using QGC with a vehicle in HITL.
HITL is set via parameter which then has an impact in the startup script
where the CLI argument `-hil` is added to some of the commands that
require it (like commander as well).
- use pragma once guard in FailureDetector.hpp
- send Commander parent to ModuleParams and remove update_params() method
- simplify attitude checks
- FailureDetector::get_status() (previously named "get") is now a constant method that returns a constant reference
Claudio Micheli