This issue was found by @khabir and reported over slack.
It resulted from the split up of the big pr #12072 into #13262.
I took over the interface while the internal states still stayed the
hard to understand internal ones. One of the follow up refactors will
fix this completely and the entire legacy setpoint restore block can
be removed.
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
* fix formatting
* RoverPositionControl: Support Actuator Control Setpoints (fixes#13192)
* RoverPositonControl: remove control modes, that aren't currently implemented
* RoverPositionControl: use new Publication API
- Startup was broken due to unnecessary cyclic check probably introduced during transition to work_queues
- Module never used other than on Teal One which had a hacky heater input GPIO, this enables usage on general boards
drivers: heater: reduce verbosity and simplify commandline options
- We prefer the linux way of only reporting errors and staying quiet when everything is functioning as designed
- Most of the commandline options just read out the values of the system parameters, and one can just check the parameter values directly.
sensor_params: make thermal control parameters system parameters
heater_params: make thermal control parameters system parameters
drivers: heater: remove pin control hacks
- px4_arch_configgpio(GPIO_HEATER_OUTPUT) directly inits the heater pin to OFF, and as a PUSHPULL (TTL totem pole) OUTPUT
drivers: heater: set default device ID to 0
Currently actuator offboard control interferes with SITL lockstep.
Therefore, the least we can do is to warn a user and inform them how to
workaround the issue.
* PreFlightCheck: remove unused reportFailures flag
* Commander: pull all pre flight checks together on the PreFlightCheck class
* PreFlightCheck: separate checks into their own files
The plot of the attitude setpoint in the log did not show any values
because the message timestamp that the position control module sets
was overwritten by the PositionControl attitude generation.
by applying it directly to the attitude setpoint which is the output of
the position controller.
The problem was that before the input to the attitude setpoint generation
was adjusted to generate a level attitude with zero thrust keeping the
heading. I refactored the PositionControl class in #13262 to directly
generate the attitude setpoint output. So here I'm adjusting the attitude
setpoint to do the exact same thing as before but without interleaving
with the PositionControl logic.
This fixes the battery failsafe for the following corner cases:
- Battery failsafe set to Return but we can't do RTL because we don't
have a global position or home position. In this case we now switch to
Land. Land might end up in Descend in the failsafe state machine
later.
- Battery failsafe set to Land but we can't land because we don't have a
local position. In this case we switch to land anyway and then fall
back to descend in the failsafe state machine later.
The "fix" involves ignoring using the main_state_transition and
implementing the guards in place. This is a hack for now but should
cover the corner case until a more thorough refactor.
The different failsafe state machines have involved over time from
requirements and learnings based on developed solutions and products.
The implementations in various places will need to get consolidated in
the future.
Tested in SITL for Return and Land with and without GPS.
Daniel Agar