Beat Küng
6511866408
fix commander: check that offboard_control_mode data is recent
...
This is a regression from https://github.com/PX4/PX4-Autopilot/pull/20172
2022-11-02 10:11:29 -04:00
Beat Küng
0996e5319f
commander: add preflight check for hardfault files on SD card
2022-11-02 09:59:00 -04:00
Daniel Agar
c32cf21b63
commander: estimator check shorten messages
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- otherwise these are awkwardly split in mavlink
2022-10-25 08:02:47 +02:00
Daniel Agar
a7b909234b
commander: estimator nav test is not an arming check
2022-10-25 08:01:30 +02:00
Daniel Agar
309465858a
commander: elapsed time checks avoid subtracting unsigned integers
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- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
- most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
- likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
2022-10-19 20:21:36 -04:00
Daniel Agar
e211e0ca0e
commander: limit some estimator checks to prearm
2022-10-19 19:06:56 -04:00
Matthias Grob
5ca28dd6dc
Use isAllFinite() in all places that check finiteness on entire vectors or matrices
2022-10-19 19:09:20 +02:00
Beat Küng
d542ffc10c
refactor vehicle_status_flags: rename to failsafe_flags
2022-10-13 16:05:25 -04:00
Beat Küng
38d3739b6d
refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost
2022-10-11 22:31:20 -04:00
Beat Küng
acaa50a448
geofence: add and report reason for violation
2022-10-11 22:31:20 -04:00
mcsauder
ebc88afe46
Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached.
2022-10-11 22:31:20 -04:00
Beat Küng
693af897b3
commander: check if battery was already disconnected on arming
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If so, don't report.
Happens e.g. with USB powered pixhawk.
2022-10-11 22:31:20 -04:00
Beat Küng
24142bc014
commander: RcCalibrationChecks: avoid param access on each cycle
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reduces cpu usage a bit
2022-10-11 22:31:20 -04:00
Beat Küng
6fda555cba
commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks
2022-10-11 22:31:20 -04:00
Beat Küng
e4bb219d10
vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status
2022-10-11 22:31:20 -04:00
Beat Küng
455b885f86
commander: use new failsafe state machine and add user intention class
2022-10-11 22:31:20 -04:00
Beat Küng
82911e48be
fix commander: check estimator type & avoid timestamp wrap-around
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Before it was possible that the publication timestamp was never than 'now',
leading to wrap-around.
2022-10-11 22:31:20 -04:00
Beat Küng
e8ac9b266b
px4events: add @skip-file tag
2022-09-22 09:42:39 -04:00
Daniel Agar
b45daac0e8
commander: fix angular velocity validity
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- vehicle_angular_velocity timestamp can be newer than saved now
2022-09-09 09:14:09 -04:00
Beat Küng
43c5f14aa0
commander: update arming & health protocol, add modes to event hash
2022-09-01 17:07:23 -04:00
Beat Küng
295caaea60
events/enums.json: remove redundant manual_control_input
2022-09-01 17:07:23 -04:00
Beat Küng
dcb9b712bb
refactor commander: move vehicle control mode to ModeUtil
2022-09-01 17:07:23 -04:00
Beat Küng
f197c8884d
commander: move esc checks to arming check
2022-09-01 17:07:23 -04:00
Beat Küng
f17f38197d
commander: move estimator checks to arming check
2022-09-01 17:07:23 -04:00
Beat Küng
cfe3d793bf
commander: move battery handling into arming checks
2022-09-01 17:07:23 -04:00
Beat Küng
4c41934bb4
commander: inline HealthComponentIndex::HealthComponentIndex
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Saves around 1KB flash
2022-08-25 22:02:15 -04:00
Beat Küng
13c93db11a
commander: use circuit breaker params directly in arming checks
2022-08-25 22:02:15 -04:00
Beat Küng
dbb814ff24
HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage
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- print list of events whenever they change if
CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
2022-08-25 22:02:15 -04:00
Beat Küng
6d1fb92eb7
commander: rework arming checks to use the events interface
2022-08-25 22:02:15 -04:00
Beat Küng
8f9be0541f
HealthAndArmingChecks: add support for legacy mavlink_log reporting
2022-08-25 22:02:15 -04:00
Beat Küng
f23363f88c
HealthAndArmingChecks: add unit tests for Report
2022-08-25 22:02:15 -04:00
Beat Küng
b7a6de05df
arming checks: add health topic
2022-08-25 22:02:15 -04:00
Beat Küng
07afcf4586
commander preflight checks: new structure using events interface
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- Reporter class that keeps track of results (list of events + whether
arming is possible + health).
And only reports when one or more checks change.
2022-08-25 22:02:15 -04:00
Beat Küng