d3c169b1e0
Fix whitespaces in PreflightCheck.cpp, tilt_quad.aux.mix, and tilt_quad.main.mix
2018-06-28 20:20:32 -04:00
bf1c11a33c
commander: move comment to the right place
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It's now the same way as in the ARM logic further down.
2018-06-27 10:41:21 +02:00
02fc68a53e
commander arming: disable stick (dis-)arming when arming switch/button is used
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A reason for using switch arming in the first place is that you cannot
accidentally disarm in-air with the sticks during acrobatic flights.
It also adds a low-throttle arming requirement for switch arming.
2018-06-27 10:41:21 +02:00
db2b010630
commander arming: add a grace period of 5 seconds to allow re-arming w/o preflight checks
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This changes the arming logic such that the preflight checks don't need
to be satisfied if arming happens < 5 seconds after the last disarming.
This allows to recover from accidental in-air disarming.
2018-06-27 10:41:21 +02:00
8c3cf0167c
commander arming_state_transition: respect fRunPreArmChecks properly
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if fRunPreArmChecks was set to false, there were still cases where the
preflight checks could be called. This fixes that.
arming_state_transition() with fRunPreArmChecks=false is only called
when entering & leaving preflight calibration mode.
All other places use fRunPreArmChecks=true, which means there is no change
for these.
2018-06-27 10:41:21 +02:00
469b5f98e2
commander Preflight::preflightCheck: transition condition_system_sensors_initialized only to true
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- this matches the logic in arming_state_transition()
- if Commander::preflight_check was run in armed state and the checks
failed, disarming was not possible anymore
(because disarming checks for condition_system_sensors_initialized).
That is currently not the case, but the existing logic is way too fragile.
Alternative solution: check if armed in Preflight::preflightCheck, and
only transition to false if disarmed (but also respect the re-arming
grace period).
2018-06-27 10:41:21 +02:00
d1343b0ccb
calibration_routines: fix 'Command denied during calibration' error message
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The uorb subscribe logic got changed for queued topics with
https://github.com/PX4/Firmware/pull/9436 , meaning an orb_subscribe will
return past messages as well now.
This lead to an error 'Command denied during calibration' for the previously
received calibration start command.
2018-06-18 15:06:58 +02:00
daa6f29b58
commander ignore failsafe transitions when in mission and disarmed
2018-06-13 08:37:00 +02:00
20aabd3566
move systemlib/airspeed to standalone lib
2018-06-12 09:06:30 +02:00
387bc81f26
move systemlib/circuit_breaker.cpp to standalone lib
2018-06-12 09:06:30 +02:00
3399ec9e73
move systemlib/rc_check to commander (the only usage) and convert to c++
2018-06-11 22:53:38 +02:00
9fb674929c
commander: do not check global position when using flow in POSCTL
2018-06-09 13:38:04 +02:00
98597dcffc
commander: allow position uncertainty to grow when operator can correct for drift
2018-06-09 13:38:04 +02:00
f87fa9131b
FMUv5: Fix RGB led usage - these are individual status leds.
2018-06-06 23:03:28 +02:00
9f414e82f6
Subsystem_info status flags & checks: Add comment to indicate that the IMU+MAG consistency checks need to be performed AFTER the individual checks are complete
2018-06-06 18:54:24 +02:00
e12b470cac
Subsystem_info status flags & checks: Small fixes according to @bkueng's review
2018-06-06 18:54:24 +02:00
0b71c52225
Subsystem_info status flags & checks: Suppress sensor failover warnings in Hardware in the loop (HITL)
2018-06-06 18:54:24 +02:00
302cb0a285
Subsystem_info status flags & checks: Moved the set_health_flags helper functions out of the /lib/ folder and into the module/commander folder because they are actually only needed there
2018-06-06 18:54:24 +02:00
bd2af289f5
Subsystem_info status flags & checks: Code style fixes and cleanup to avoid strcmp() as suggested by @LorenzMeier
2018-06-06 18:54:24 +02:00
e4d863b95f
Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules
2018-06-06 18:54:24 +02:00
a807d34a7a
Remove distance sensor checks again. These checks should be handled by EKF2 and should thus be added there later
2018-06-06 18:54:24 +02:00
075009be2f
Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder"
2018-06-06 18:54:24 +02:00
f5847a4a7b
Subsystem_info status flags & checks: Switch back to uORB for inter-process communication, handle GPS checks completely inside ekf2, add distance_sensor checks
2018-06-06 18:54:24 +02:00
6f1f414b49
Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.
2018-06-06 18:54:24 +02:00
15a44a059d
addressing review comments from #9563
2018-06-02 08:36:35 +02:00
52c290e234
commander: moved emergency shutdown to end of cycle
2018-06-02 08:36:35 +02:00
57162ff08d
Improve high latency switching and acknowledge
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- Move publishing the telemetry status from the IridiumSBD driver to the mavlink instance
- In the commander use the iridiumsbd_status message for heartbeat in case of a high latency link
- Move positive acknowledge to the mavlink instance
- Add a failed acknowledge in the commander if no high latency link exists
2018-05-27 12:11:35 -04:00
12f6affdfa
Commander: Avoid sending ack for VEHICLE_CMD_CONTROL_HIGH_LATENCY if from_external is false
2018-05-27 12:11:35 -04:00
222a91c6be
mathlib delete Matrix, Quaternion, Vector
2018-05-23 17:27:09 -04:00
0d7b5c4a4e
commander accel calibration switch to matrix lib
2018-05-23 17:27:09 -04:00
ac55a0de58
airspeed calibration log critical when ports are swapped
2018-05-22 21:02:33 -04:00
87a0e943d4
commander add geo dependency
2018-05-21 01:32:16 -04:00
f2516bbf5f
system_params: add SYS_HAS_MAG and SYS_HAS_BARO params
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This allows to use PX4 on systems that do not have a mag or a baro,
such as the Omnibus F4 SD.
2018-05-20 11:54:17 +02:00
4e32cb17df
clang-tidy modernize-use-equals-default
2018-05-18 22:48:55 +02:00
11f4631b2a
fix commander: initialize tune_durations ( #9468 )
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Fixes #9451
2018-05-16 10:20:28 -04:00
9a7195cb2d
Change offboard mode fallback option back to Manual
2018-05-08 07:04:32 +02:00
42d1708d7c
Commander failsafe action params to reflect current mode names
2018-05-08 07:04:32 +02:00
92f15283c1
changed int to float
2018-05-04 12:08:55 -04:00
ea3acb7121
cmake remove circular linking and reorganize
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- px4_add_module now requires MAIN
- px4_add_library doesn't automatically link
2018-04-29 21:48:54 -04:00
fbbe1f5288
commander use new time literals
2018-04-24 00:02:48 -04:00
89ad46dd15
commander delete unused DIFFPRESS_TIMEOUT
2018-04-24 00:02:48 -04:00
cd69a573b5
commander restore MC nav failure latch
2018-04-24 00:02:48 -04:00
f13f8f9c64
commander add COM_POS_FS_PROB and COM_POS_FS_DELAY metadata limit
2018-04-24 00:02:48 -04:00
fc26fd99bd
commander move remaining position failsafe params to class and cleanup
2018-04-24 00:02:48 -04:00
fa9f400dbd
commander update super block parameters
2018-04-24 00:02:48 -04:00
b70e7433dc
commander add parameters for eph, epv, evh requirements
2018-04-24 00:02:48 -04:00
7bc3a12efe
commander move telemetry checks to new preflightcheck helper
2018-04-16 20:43:33 -04:00
64fb4b43b6
commander preflightCheck don't report failures during calibration
2018-04-16 20:43:33 -04:00
2271b3f127
commander preflight checks pass status and status_flags messages
2018-04-16 20:43:33 -04:00
f2104217d4
commander arm_auth check last
2018-04-16 20:43:33 -04:00
Mark Sauder