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5e5a1e1b1f86a042e1a31aef46ca761c8c184152
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450 Commits

Author SHA1 Message Date
Matthias Grob c03f5b9481 Commander: fix overlooked rebase naming error 2022-05-25 21:10:19 +02:00
alessandro 29c4119e24 Match commander uORB var names to message names (#19707) 
* match vehicle_status

* match home_position

* match vehicle_command_ack

* match actuator_armed

* match vehicle_control_mode

* match commander_state
 2022-05-25 17:08:48 +02:00
Matthias Grob 0be474430c Commander: don't disarm on landing amid a mission 2022-05-24 13:42:03 +02:00
Igor Misic 08dcc72e1f commander/safety: replace safety.msg with Safety class (#19558) 2022-05-23 06:54:37 +02:00
Daniel Agar c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Julian Oes 33a77c225c commander: lockdown is not termination 
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
 2022-05-20 09:43:32 -04:00
Nico van Duijn 04071b9456 Commander: ignore MAV_CMD_REQUEST_MSG 
This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle
commands which are ignored without generating a warning sound.
 2022-05-20 15:36:42 +02:00
Matthias Grob 38e027ee45 ArmStateMachine: remove dependency on armed.armed 
To have the internal state as single source of truth
for the arming state within Commander.
 2022-05-20 13:51:51 +02:00
Matthias Grob 37c485ce89 ArmStateMachine: move arm state into the class 2022-05-20 13:51:51 +02:00
Matthias Grob 47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
Daniel Agar fd4b62032e commander: publish actuator_armed first on any change 2022-05-19 12:47:50 -04:00
Silvan Fuhrer 2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Alessandro Simovic fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Silvan Fuhrer 5d6c8c986d Commander: high wind speed handling updates 
- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Silvan Fuhrer 1aad82f87d Commander: add max flight time RTL 
Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-09 19:09:40 +02:00
Matthias Grob b3776134b8 Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:32:27 -04:00
Alex Mikhalev 45dff7f71a commander: Add prearm check for flight termination 2022-04-25 11:57:37 -04:00
Junwoo Hwang af839c828d Set Tune's Volume for Power-Off in Commander to default volume of tune_control message 2022-04-25 11:47:43 -04:00
bresch 3c6b72c33b commander: improve set_in_air_position 
- set local home using global pos and global home
- set local home using GNSS pos and global home
- set global home using global ref of local frame and local home
 2022-04-19 15:29:25 +02:00
bresch d2f2ba59a4 commander: refactor home position setter 
- always try to set local or global home position when possible
- set global home with GNSS position if global pos from EKF isn't
  available
- reset home when significantly moved from home before takeoff (checking
  lpos or gpos or GNSS)
- reset home on takeoff transition
- reset home on mavlink arm command
- remove "home required accuracy" parameters, rely on validity flags
 2022-04-19 15:29:25 +02:00
Thomas Debrunner f6bdc42977 param-reset: Add option to reset all configurable params, but not the ones that store vehicle information 2022-04-14 07:57:48 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Igor Misic 80aef942cd safety and safety button: refactoring #19413 2022-04-05 07:57:37 +02:00
Daniel Agar 8c3ba7adb4 commander: silence GPS no longer validity PX4_WARN 2022-04-04 14:43:11 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar 875a2cc423 commander: remove loop counters and update UI LED control to use monotonic time 2022-03-24 22:43:26 -04:00
Daniel Agar 879622547c commander: only process one vehicle_command/action_request per cycle 
- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
 2022-03-24 22:43:26 -04:00
Jonas Perolini e31304d7d5 Quadchute param update (#19351) 
New parameter for actions after a quadchute (COM_QC_ACT)

Co-authored-by: Jonas <jonas.perolini@rigi.tech>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-03-24 10:27:32 +01:00
Matthias Grob e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00
Matthias Grob eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Silvan Fuhrer a7ddaf08c4 vehicle_status_flags.msg: remove condition_ prefix to reduce message size 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-03-23 10:37:51 -04:00
Matthias Grob db1fb6acf7 Commander: no battery time based RTL when already landed 2022-03-23 10:49:38 +01:00
Matthias Grob b85c4ec475 Commander: rename land detection subscription for consistency 2022-03-23 10:49:38 +01:00
bresch 182980526f commander: allow rearming grace period for arming switch only 2022-03-09 08:42:21 +01:00
Daniel Agar 11f617ca9b ekf2: default to in air and not at rest 
- this is a more conservative default if a vehicle isn't set (no land detector running)
 - handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
 - ekf2 no longer depend on arming or standby status
 2022-02-22 16:59:10 -05:00
Daniel Agar 1d7791dad6 commander: monitor GPS validity and EKF2 dead reckoning 
- 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
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* 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
Matthias Grob ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob 405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob 1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob 3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob 8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Daniel Agar ad447ab223 commander: respect control mode for prearm requirements 
- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
 2022-01-31 09:48:37 -05:00
Daniel Agar 3f25349eb9 commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR 2022-01-25 18:44:58 -05:00