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6d85a3c4e4ade7de46bfb6ec9d4b73d4d4ba8674
Commit Graph
847 Commits
Author SHA1 Message Date
Beat Küng 6d85a3c4e4 geofence: lock geofence items during a write transfers 
- avoids race conditions when geofence data is updated in flight. During
  a transfer, the geofence module will not check for violations, which
  is done with the new dm_trylock method.
- there is an update counter stored in dataman, and for each write
  transaction this is increased, so that the geofence module can reload
  the data upon data change (after it's unlocked).
- single dm item updates are atomic already, so resetting the polygons
  to 0 does not need locking.
 2017-08-04 18:08:51 +02:00
Beat Küng cb580c5268 navigator/mission.cpp: check result of dm_lock 
and remove duplicated output, mavlink_log_critical already outputs to the
console
 2017-08-04 18:08:51 +02:00
Beat Küng 3d3e6428c2 msg/geofence_update.msg: remove this topic 
We'll use dataman to check for geofence data updates.
 2017-08-04 18:08:51 +02:00
Beat Küng ed478f40fd geofence: implement circular areas 2017-08-04 18:08:51 +02:00
Beat Küng 32491626b6 mavlink mission: set mission_type in mavlink_mission_count_t message 2017-08-04 18:08:51 +02:00
Beat Küng 401d6a1a6f navigator status: print how many polygons there are currently loaded 2017-08-04 18:08:51 +02:00
Beat Küng 4c1328483d geofence: disable altitude check if not configured 
It currently cannot be configured via mavlink mission protocol.
 2017-08-04 18:08:51 +02:00
Beat Küng 2981ece921 geofence: do not show an error for MAV_FRAME_GLOBAL_RELATIVE_ALT{,_INT} items 
Since the altitude is not used, we can ignore this as well.
 2017-08-04 18:08:51 +02:00
Beat Küng e52491c023 geofence: there is no altitude for geofence vertices, remove the TODO 2017-08-04 18:08:51 +02:00
Beat Küng c4cdaa48e0 dataman, mission_feasibility_checker: remove unneeded uorb includes 2017-08-04 18:08:51 +02:00
Beat Küng 82716012bd geofence_update.msg: notify navigator on geofence update 2017-08-04 18:08:51 +02:00
Beat Küng 328e84117e navigator geofence: switch to new dataman data structure, support multiple polygons 
This also removes the 'navigator fence <lon> <lat>' command to simplify
code (I don't think there's still use for that anymore). However the
file loading is still supported.

If goefence.txt does not exist, navigator will not clear the geofence
anymore on startup.
 2017-08-04 18:08:51 +02:00
Beat Küng 40c696ff49 navigation.h: add dataman structs for fence & save points 2017-08-04 18:08:51 +02:00
Beat Küng 7206bf86dc navigator mission: fix printf log levels 2017-08-04 18:08:51 +02:00
Beat Küng 52ca49c682 geofence: remove fence & fence_vertex messages 
- this was never read
- it was implemented wrong, leading to memory access violations in
  publishFence (an integer was passed instead of the fence_s struct)
 2017-08-04 18:08:51 +02:00
Lorenz Meier 60c96d9dd6 Navigator: Use default scheduling priorities 2017-08-02 21:18:35 +02:00
Daniel Agar 9fb5c4f0e9 navigator land abort use reposition (#7574) 2017-08-01 18:59:12 -04:00
Lorenz Meier cb3222d131 Navigator: Be less verbose 2017-07-18 23:05:43 +02:00
Lorenz Meier dbc7d805f2 Navigator: Fix pause mode to not continue to next waypoint if already set 2017-07-11 13:23:12 +02:00
Lorenz Meier 57a2ea0cd1 Navigator: Do not change target position if user is only changing altitude 
This is important for multicopters for drift-free altitude changes and important for fixed wing to keep the current loiter center.
 2017-07-10 18:36:03 +02:00
Lorenz Meier 099a6dfd3e Mission feasibility checker: Improve output messages for humans 
Text to speech will work better with these messages and some of them exceeded the 50 character limit.
 2017-07-09 14:43:24 +02:00
Daniel Agar e0aa2e2391 RTL reduce verbosity 2017-07-08 21:54:04 +02:00
Daniel Agar fbebec5d0f navigator log RTL messages and don't print global timeout 2017-07-08 21:54:04 +02:00
Lorenz Meier 49bbd0e58d Navigator: Be less verbose 2017-07-08 19:36:58 +02:00
Julian Oes 9854fc0d84 Set timestamp with vehicle commands 
The vehicle_command uORB messages had the timestamp unset at 0.
 2017-07-08 11:52:23 +02:00
Daniel Agar c8189b9c23 navigator mission_block check range for loiter exit 
- fixes #7510
 2017-06-29 21:28:26 +02:00
Julien Lecoeur 7929287f73 Fix -Werror=format-truncation on GCC 7 
Fix formatting

Check snprintf return for error AND overflow
 2017-06-26 15:50:44 +02:00
Julien Lecoeur 06c6a0cdec Fix -Werror=implicit-fallthrough errors on GCC7 2017-06-26 15:50:44 +02:00
Martina 5984e3d330 mission: clean up mavlink log messages style 2017-06-19 19:34:18 +02:00
ChristophTobler bc406a122e disable min loiter altitude 2017-06-15 09:18:35 +02:00
Lorenz Meier d5c923c7ef Navigator: Fix RTL backtransition for VTOL 
A recent change removed the command forwarding required for VTOL transitions. This change brings this back.

Partially reverts https://github.com/PX4/Firmware/pull/7249
 2017-06-15 08:27:23 +02:00
Sean Matthews c41185a277 Fixes valid yaw check 2017-06-14 01:23:37 +05:30
Sean Matthews d9cec600ed Fixes #7313: Invalid setpoint yaw after takeoff 2017-06-14 01:23:37 +05:30
Daniel Agar 77eaa3ae61 fw_pos_control_l1 rename Landingslope to match case 2017-06-08 22:04:30 -04:00
Daniel Agar 3b7e57a5b2 navigator/follow_target remove unused 2017-06-08 22:03:08 -04:00
Nacho Carnicero e6670d7926 Drone yaw set to destination waypoint yaw in LOITER mode if MIS_YAWMODE=0 (#7269) 
* Drone does not change orientation while in LOITER mode if MIS_YAWMODE=0

* Fix code style

* Some more code style fixes

* Format checks passed
 2017-06-04 20:01:40 +08:00
Daniel Agar f1079e3382 mission block remove unread value 2017-06-02 19:35:18 -04:00
Daniel Agar 64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00
ChristophTobler 680cebcb08 fix qgc flow takeoff -> use min takeoff alt if no home position 2017-05-30 10:22:09 +02:00
Lorenz Meier 9be5193965 Navigator: Fix RTL command lnd logic for missions 
The navigator was sending RTL commands in the wrong circumstances leading to a cycle between Navigator and Commander.
 2017-05-16 08:40:53 +02:00
Dennis Mannhart 1ee160a5ff navigator takeoff: use global yaw instead of home yaw 2017-05-15 15:41:47 +02:00
ChristophTobler 14f860090a remove empty line and fix typo 2017-05-15 15:41:47 +02:00
Dennis Mannhart 9e383f2cd3 navigator: when landed only exit idle if mission/takoff 2017-05-15 15:41:47 +02:00
yaoling 3ad23a44c5 navigator fix takeoff insidetime = 0 (#7199) 2017-05-13 12:16:55 -04:00
Mohammed Kabir ad5fe5f44a Add support for SET_CAMERA_MODE command; Not used yet. 2017-05-12 22:11:17 +02:00
Mohammed Kabir 2e92a3946d camera_trigger : completely refactor state handling 2017-05-12 22:11:17 +02:00
Lorenz Meier 981dac8e95 Navigator: Increase RAM size 2017-05-06 12:34:28 +02:00
Nate Weibley 50740ef813 Improve FW landing predictability 
- Use the course over ground as loiter exit criteria (better wind behavior)
 - Compute the tangent origin coordinate explicitly instead of using immediate position
 2017-05-04 07:51:46 +02:00
ChristophTobler dce28454c8 use current local position for land and not GPS -> e.g. flow 2017-05-03 16:52:37 +02:00
Daniel Agar 1fd343b5cc navigator remove FW and MC cruise parameters 2017-04-23 14:50:21 +02:00