For delivery use-case, the mission contains a land item followed by other mission items. For the
section after the land, the current sequence number is greater than the land start index. If an RTL
is triggered, then isLanding returns true and the vehicle continues with the mission instead of
executing the RTL.
The land index marks the actual landing. So, is landing should only be true for the items between
land_start_index and land_index. If there are items after the land index, then they don't belong
to the landing anymore.
code was checking for an updated MissionResult twice in a row, leading to _mission_state
not being set correctly when the second check had no new message.
Switched to SubscriptionData to safely retrieve the latest message using .get().
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
* removing logic from driver to send warnings when state-change to spoofing is detected, handled in estimatorChecks
* also remove jamming warnings from drivers, those are handled in the estimator checks as well
The define is used in dataman, not navigator, so this config variable
needs to be moved to the dataman module, otherwise it breaks the build
if navigator is not included in the build.
* add qmc5883p drivers
* format correction for qmc5883p
* make format
* remove extra newlines
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Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
When a mission finishes with an RTL command, there's a race condition
between:
1. RTL command setting user_mode_intention RTL
2. Mission completion logic forcing LOITER
The auto-loiter transition was checking current nav_state (which is
still AUTO_MISSION) instead of any pending user_mode_intention,
causing it to override the RTL request.
Fix: Only auto-transition to loiter if no mode change is already
pending.
- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux
- scale was not set as unknown (-1) even though it is since it's never updated
- time_remaining was not initialized correctly and could sometimes be 0
unexpectedly which causes the drone to failsafe because there's reportedly no flight time left
There was a race condition when closing the shell:
- the main thread checks if _mavlink_shell is not nullptr (which is true)
- the receiver thread closes the shell, which clears _mavlink_shell
- the main thread continues with _mavlink_shell->available()
Within the first 2min of a flight, check if the integrated GNSS vertical velocity and the baro
measurements disagree with the reported GNSS altitude, and in that case update the
set home position altitude to cancel out GNSS altitude drift.
* prevent re-init when reaching negative altitudes
* only allow correction during the first 120 second after takeoff
* add dependency to COM_HOME_EN parameter. reset vel-integral for multiple takeoffs
Beat Küng