* rft: clean merge to PX4
* fix: formatting
* fix: extra line
* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle
* feat: updated gazebo models to include bluerov update
* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build
* fix: added saturation to thrust and torque messages via param
* doc: updated parameters documentation for uuv
* fix: formatting
* feat: matching hardware reference
* fix: thrusters kg
* rft: removed commented lines
* fix: update gz reference given hw setup
* fix: hardware references
* fix: recommendations
* fix: updated settings to match hardware
* rft: check only for fixed and rotary wing for high throttle
Co-authored-by: Daniel Agar <daniel@agar.ca>
* fix: commit oupsie
* fix: format
* rft: remove is_uuv
* fix: hw parameters, uuv build target for v6x
* feat: added support for D-pad attitude changes in stabilized position control
* fix: position setpoint update and parametrized trajectory age and att change
* fix: format
* fix: removed duplicated call to check_validity_setpoint
* fix: setpoint update on arming logic
* fix: setpoint initialization for stabilized mode
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
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).
This time including the message versioning and translation.
There was a race condition: for example when an external mode disabled
failsafe deferring, that then triggered a failsafe, while the mode executor
immediately sends a command (to e.g. switch modes).
In that case the failsafe got triggered but the mode switch was still
allowed.
This was because of the processing ordering:
- mode updates (and propagating the failsafe_action_active state)
- failsafe updates
- command handling
This patch makes sure failsafe_action_active is set immediately after
updating the failsafes.
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).
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.
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
Replaced the local variable landed_amid_mission with the class member _mission_in_progress for consistency and to reduce redundancy.
No functional change.
Setting "lockdown" disables the actuators. In this mode,
"force_failsafe" has no effect as the actuators are disabled, so the
parachute is not getting released as it requires the output to change to
its failsafe value.
Previously, when requesting a mode switch to Position without a valid
position estimate through an RC button, the mode change to Position mode
was not rejected if COM_POSCTL_NAVL was set to 1 and instead the system
switched to Altitude mode.
If the mode request instead came in through MAVLink it was rejected.
This commit aligns the two ways of changing a flight mode.
Signed-off-by: Silvan <silvan@auterion.com>
As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
Special handling for LAND mode: always allow to switch into it such that if used
as emergency mode it is always available. When triggering it the user generally wants
the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
