This adds RTL_TYPE 4 which means continue the mission or reverse back to
the takeoff location, whichever is closer in terms of mission items
in-between.
This would be nicer to have on a distance rather than mission item count
basis but that would require access to the dataman and make it more
complex.
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase max mission items for boards with >=1kb RAM to 1000
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000
Signed-off-by: Silvan <silvan@auterion.com>
Since we have SYS_DM_BACKEND, the user has to option on all boards
to store the mission on the RAM, thus thus define got obsolete.
Signed-off-by: Silvan <silvan@auterion.com>
* MissionBase: replay change speed on resume immediately if not going to previous
This fixes an issue where the speed was not correctly set at the beginning of a
survey (with first wp having a DO_CHANGE_SPEED attached) when the user paused
and resumed the mission prior to reaching the first waypoint.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Update src/modules/navigator/mission_base.cpp
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.
Signed-off-by: Silvan <silvan@auterion.com>
* fix max-hagl restriction to position/altitude control
* max hagl vel restriction in ManAcc position mode
* use interpolate func, change naming
* simplyfied vertical vel limitation
* move velocity-constraint adjustment to StickAccelXY
* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com>
When flying patterns, photos are sometimes taken while the gimbal is pitching up or down. To address this, we orient the gimbal before reaching the mission waypoint, allowing more time to complete the action. Additionally, we verify if the vehicle is climbing to avoid orienting the gimbal while on the ground.
Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
* RTL Direct: fix rlt time prediction in final lanidng phase
It was previously checking if RTL was already running through
active(), which though actually is coming from the mission mode
that rtl_direct inherits from.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary active() check
As the method setRtlPosition() is anyway not called when RTL is active,
plus it checks the wrong thing, as it is the active() method from
the Mission mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary land_detector_sub.update()
It is already getting updated just before the .get()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL time estiate: do not distinguish land from sink for MC
To avoid rtl time prediction jump when entering LAND phase due
to no correct handling of loiter altitude (LAND phase doesn't
have to start only when lower then RTL_DESCND_ALT).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Revert "RTL Direct: remove unnecessary active() check"
This reverts commit d5165ba902e65839e792cc13197761c7f77748f9.
* Revert "RTL Direct: fix rlt time prediction in final lanidng phase"
This reverts commit 5af7c928fbf86d560dcd35dd9aea3e38f1e4c735.
* RTL: Make sure to call the initialilze function of the Navigator RTL modes
* RTL: use the navigator_mode run function instead of the on_xxx function directly
* RTL: Make sure that for vtol the right vehicle type is used for each RTL state
* RTL: move to loiter distance estimate should substract the loiter radius for fixed wing
* RTL: time prediction: do not assume VTOL is in FW at start of RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: fix is_in_climbing_submode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: subtract loiter radius from distance in rtl_direct_mission_land
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL direct: poll important topics also on_inactive such that time estimate is correct
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* navigator rtl: fix setter spacing
* navigator rtl: check pointer before dereferencing
* RTL: only subract loiter radius when in FW
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Konrad <konrad@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* Use target camera in image capture start/stop messages
* Add support for MAV_CMD_SET_CAMERA_SOURCE
* Add target ID for NAV_CMD_SET_CAMERA_MODE
* Run make format
This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Matthias Grob