Daniel Agar
6549017993
navigator: GeofenceBreachAvoidance remove duplicate type alias
2021-05-23 17:51:08 -04:00
Julian Oes
518222bae4
navigator: fix home altitude feasibility check
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This includes the following:
- Remove warning/throw_error flag as it is always !home_alt_valid.
- Remove impossible code path when home_alt_valid = false and
throw_error = false.
- Add home_alt_valid check in second check before using home_alt.
- Only use warning for the second check to allow waypoints below home.
- Don't return early when only warning.
2021-05-20 10:50:54 -04:00
Julian Oes
b7890529b2
navigator: reset mission feasibility warning flag
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Without reseting the warning flag commander would complain about a
warning but still allow arming and flying the mission which was weird.
2021-05-20 10:50:54 -04:00
RomanBapst
6215e6c7ec
navigator: do not emit geofence warnings if system is not armed
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-10 10:46:49 +03:00
Alessandro Simovic
48f3bd4078
follow-me: formatting
2021-05-05 16:13:50 -04:00
Alessandro Simovic
5f19eeaaa5
follow_target: copy also velocity fields from uorb
2021-05-05 16:13:50 -04:00
Alessandro Simovic
2d6bc9b6e0
follow_target: use actual velocity measurement
2021-05-05 16:13:50 -04:00
Alessandro Simovic
5d9b3504f7
follow-target: correctly set "updated" flag
2021-05-05 16:13:50 -04:00
Alessandro Simovic
f1fca0939f
follow-target: name variable correctly
2021-05-05 16:13:50 -04:00
Silvan Fuhrer
2c6b3eeb02
Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-03 08:40:54 +02:00
Silvan Fuhrer
5579a1d789
Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE
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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 >
2021-05-03 08:40:54 +02:00
Beat Küng
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
Daniel Agar and Sander Smeets
b20949e664
mission feasibility: Fix first wp too far message overflow
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Co-authored-by: Sander Smeets <sander@droneslab.com >
2021-03-15 12:40:52 -04:00
Daniel Agar
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
Daniel Agar
d0c9a5fc93
OFFBOARD mode architecture overhaul ( #16739 )
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- 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
2021-03-05 09:39:46 -05:00
Daniel Agar
94bcda7c57
navigator: poll mission to run feasibility checks immediately
2021-02-26 10:28:49 +01:00
David Jablonski
ed7a5314d8
rtl: head towards home location after descend
2021-02-22 16:37:08 +01:00
David Jablonski
aeccb621c5
rtl: added loiter radius for descending
2021-02-22 16:37:08 +01:00
Silvan Fuhrer
0ea8104344
select single system-wide wind estimate message (current best)
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- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-20 13:15:01 -05:00
Julian Oes
e6b1775bb6
vmount/navigator/mavlink: gimbal v2 changes
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This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
2021-02-17 13:54:34 -05:00
Lorenz Meier
8d78b8a01d
Change wording in GPS failure handling
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This matches better the different platforms that are using this functionality.
2021-02-14 11:17:28 +01:00
Daniel Agar
ce552a3364
navigator: RTL don't get invalid params
2021-02-13 00:34:56 +01:00
Daniel Agar
f61d8539cb
fw_pos_control_l1: add takeoff minimum pitch parameter
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- remove mavlink mechanism for setting minimum pitch
2021-02-12 13:57:15 -05:00
Silvan Fuhrer
b9b9c55325
Navigator: change default of GF_ACTION to 2 (Hold)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-01 11:07:53 +01:00
Silvan Fuhrer
85d8e74609
Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
Silvan Fuhrer
4d6749edc2
mission_block: change loiter handling logic
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- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
--> reach exit heading (if applicable) --> declare mission item reached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
Silvan Fuhrer
5c9fac58c8
Mission: do not autocontinue if in multicopter mode and next wp has a hold time
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
Silvan Fuhrer
f3adf6d67f
mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
Silvan Fuhrer
017567792b
Navigator: for loiter position acceptance, use L1 distance and loiter radius
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 19:36:59 +01:00
Silvan Fuhrer
acbada73dd
RTL: VTOL: do the land delay loitering (RTL_LAND_DELAY) in fixed-wing flight
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-29 15:46:33 +03:00
Daniel Agar
d1dfa26903
consume all available queued vehicle_commands
2021-01-26 12:00:18 -05:00
Julian Kent
fc6b61dad1
Try 'min' for units
2021-01-18 16:26:53 +01:00
Julian Kent
d99d52960e
Fix default _rtl_xxx values
2021-01-18 16:26:53 +01:00
Julian Kent
5a9fe312b5
Fix test failure on rebase: set lpos valid
2021-01-18 16:26:53 +01:00
Julian Kent
af8d178ae5
Fix spurious RTL triggers
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Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
2021-01-18 16:26:53 +01:00
Julian Kent
b5f0a7ea03
Fix RangeRTL test
2021-01-18 16:26:53 +01:00
Julian Kent
5500a84b6a
Add timestamp to RTL message
2021-01-18 16:26:53 +01:00
Julian Kent
67082ccb2b
Test the vehicle type parameter usage
2021-01-18 16:26:53 +01:00
Julian Kent
100c64c790
Test the navigator side, and fix another trig edge case
2021-01-18 16:26:53 +01:00
Julian Kent
a736ba2435
Minor tweak in wind handling
2021-01-18 16:26:53 +01:00
Julian Kent
e847ef1a4d
Add trig tests for wind calculations, and fix bugs / edge cases
2021-01-18 16:26:53 +01:00
Julian Kent
7482413005
Add Range-based RTL
2021-01-18 16:26:53 +01:00
Silvan Fuhrer
195a900ecf
change default of RTL_LAND_DELAY to 0
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-17 12:05:30 +01:00
Julian Kent
be0f5a7fe4
Fix implicit float->double conversions in tests
2021-01-13 10:26:10 +01:00
Julian Kent
2d6758a39d
Cleanup of dataman mocks and check interval definition
2021-01-13 10:26:10 +01:00
Julian Kent
a97a4d8bb8
Fix enum and param update
2021-01-13 10:26:10 +01:00
Julian Kent
c745c8bb45
Small navigator refactor/cleanup
2021-01-13 10:26:10 +01:00
Julian Kent
04d859e36e
Fix test failure from parameter autosave starting WQ
2021-01-13 10:26:10 +01:00
RomanBapst
f97dcde4e2
GeofenceBreachAvoidanceTest: added tests for max dist to home
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Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
RomanBapst
3fa15cec91
GeofenceBreachAvoidance: improve behavior when using max dist to home option
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- ensure that the vehicle is loitering with sufficient clearance to the boundary
Signed-off-by: Julian Kent <julian@auterion.com >
2021-01-13 10:26:10 +01:00
Daniel Agar