- inconsistency checks now run continuously instead of only preflight
- keep inconsistencies for all sensors
- add per sensor data validator state as overall health flag
- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
- MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
- auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety
- fixes#15686
- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
- handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
- ground contact MC NAN setpoint workaround
- ground contact additionally check acceleration setpoint
- schedule with vehicle_local_position updates (most updates require valid local position)
- don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
- ground contact horizontal movement checks default to failed if estimates aren't available
This fixes the takeoff and land CI test where we do a takeoff and land
without RC connected.
In my opinion it does not make sense to go into RC lost failsafe if
a datalink is still available.
Of course, this can be dangerous if someone has a companion computer
connected which gets detected as "data link" but actually has no
connection to the ground station.
This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- Introduced COM_LKDOWN_TKO parameter
- Introduced auto disarm for lockdown state
- Do not trigger flight termiantion if system is in lockdown
Signed-off-by: Claudio Micheli <claudio@auterion.com>
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
Daniel Agar