* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle
* Navigator: reset cruise speed and throttle to default when VTOL-transitioning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The FW Position controller sets the wp to be tracked during a
VTOL front transition, the coordinates sp set here weren't used.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- this fixes a race condition which happens when an RTL is triggered
during the final approach of a mission landing. In that case the mission inactive
method is never called.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Enable offboard gliding position setpoints
Adds a capability to make the vehicle glide when given position setpoints.
Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE, POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan
* Handle nans for curise_throttle
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
- flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
- flag is set before front transition to align with wp, and unset after alignment is over
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This fixes a corner case for VTOL RTL with RTL_TYPE 1.
RTL_TYPE 1 means that the VTOL skips all waypoints on RTL and jumps to
the land waypoint at the end.
During a mission in fixedwing mode it will continue to fly in fixedwing
mode and then do a transition before landing.
However, if RTL is engaged right at the moment of the front transition,
the transition waypoint is not inserted and the VTOL will try to land in
fixedwing mode at the mission land location.
This corner case is fixed in this patch by also considering the
"transition after takeoff" state.
The navigator has a notion of resetting the triplets which means the
triplet setpoints are set to invalid and therefore not to be used by
downstream modules such as flight tasks.
However, before this patch, the triplets were not published if invalid
meaning that a valid triplet would stay the truth until a new valid
triplet would get published.
E.g. this lead to the corner case case where we publish a valid triplet
with an IDLE setpoint on ground in HOLD and then don't update the
triplet while flying in POSCTL mode. Later, when RTL is engaged, the
flight task will use IDLE until navigator (which runs slower) has
published the next triplet.
The fix involves two main changes:
- Publish invalid triplets to avoid stale triplets.
- Avoid publishing the triplet on every iteration in manual modes by not
setting `_pos_sp_triplet_published_invalid_once = false`.
When testing this I realized that a mission upload during RTL would stop
RTL. This is because the mission is updated while the mission navigation
mode is not active and reset_triplets() is called from there. This is
now only done for the case where we are actually in mission navigation
mode. The fact that a mission is updated when not active also seems
wrong and is something to fix another time.
Silvan Fuhrer