5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
8070a9b362
Commander: remove not used include of blocks.hpp
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-06 09:24:29 +01:00
5cf85e320a
offboardCheck: acceleration setpoints only require vehicle attitude control
2024-12-19 17:58:38 +01:00
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
8a18e5b00c
commander: accelerometer calibration respect rotation
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- accel cal use Accelerometer calibration class to fully respect
rotation (both internal and external sensors)
2024-12-17 22:26:01 -05:00
d416cd2a6c
Commander: remove COM_POS_FS_DELAY
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A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
2024-12-03 17:31:56 +01:00
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout ( #24069 )
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* Avoid unsigned integer underflow
* ESC check: add brackets to timeout for readability
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-12-03 17:14:09 +01:00
8ccd43dc1b
refactor commander: remove unused argument is_armed in Report class
2024-11-21 14:16:22 +01:00
be300b767d
commander: ensure health report is always sent out before failsafe notificaation
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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).
2024-11-21 14:16:22 +01:00
044d13635d
Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID"
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Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
2024-11-21 11:38:23 +01:00
53d920ea33
batteryCheck: fix enabling circuit breaker still causing battery failsafes
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Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
2024-11-20 13:25:20 +01:00
08155d20f8
estimatorCheck: have low position warning as health component failure to fix reporting
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
3093c593a5
Commander: put action for low position estimation accuracy into parameter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
651552c9b8
Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability
2024-11-12 21:21:40 -05:00
2f69f3fc2e
mode_requirements: require only relaxed local position for auto land, in order
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to enable auto land with optical flow
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-11-12 15:24:25 +01:00
c342f9baf7
Commander: remove mode_req_local_alt requirement from DESCEND
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-25 14:06:00 +02:00
0c451552c7
EKF2: add validity flags to global pos message ( #23787 )
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-10-23 10:19:04 +02:00
808153b049
COM_THROW_SPEED - arm or start motors clarification ( #23822 )
2024-10-23 13:13:56 +11:00
a0e6f9cd70
commander: try to fix arm authorization spamming
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-10-14 14:18:00 +03:00
34f65682ad
Commander: remove -local- from failsafe string to make it simpler to understand
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-10 10:28:59 +02:00
9cb12d8e8e
HealthAndArmingChecks: improve messaging for position estimate failure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-10 10:28:59 +02:00
4a08ebafbc
failsafe: prevent immediate low battery failsafe for existing low battery state
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This happens when BAT_CRIT_THR allows arming with a critical battery level. With this change it still fails the checks but only warns instead of doing the failsafe action because that would immediately land the vehicle before it has taken off.
2024-10-08 18:49:23 +02:00
7941310afd
batteryCheck: allow COM_ARM_BAT_MIN to be set lower than BAT_CRIT_THR
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Which still allows to arm the vehicle even if it already has a critical battery level.
2024-10-08 18:49:23 +02:00
a5b17f14b0
batteryCheck: refactor to consistent parameter variable naming
2024-10-08 18:49:23 +02:00
602042dd5c
failure detector use per index esc current
2024-09-30 10:11:34 +02:00
332b7bec27
commander: ignore REQUEST_CAMERA_INFORMATION
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- add answer command logging
2024-09-27 10:33:37 -07:00
8fdf0931e5
Commander framework: only warn and do not re-start RTL if already in RTL
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-27 14:25:27 +02:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
15e9c65a8f
dist-sensor: reduce enum names
2024-09-09 15:40:40 +02:00
e4d25df58a
Consistently use "stick gesture" for "rc stick gesture"
2024-09-05 18:06:29 +02:00
8eaf93468e
Commander: feedback string for arming/disarming: make clear when from gesture
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
d967cdbb48
Manual control: rename SOURCE_RC_STICK_GESTURE to SOURCE_MANUAL_CONTROL_GESTURE
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 18:06:29 +02:00
81cf6a736d
Commander: add VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE to list of externaly handled commands ( #23642 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-09-05 11:20:39 +02:00
6fa6360aef
Commander: always allow to switch to LAND mode ( #23580 )
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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 >
2024-09-03 18:10:37 +02:00
80d4fad624
DistanceSensorCheck: do not raise a distance sensor failure if the SFXX_MODE is set to 2 and we are in a VTOL FX flight phase
2024-09-03 15:53:09 +02:00
c86d44f831
Commander: remove 2 decimals from COM_FAIL_ACT_T
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-29 10:56:04 +02:00
6b3e3aa363
Commander: improve param description of COM_POSCTL_NAVL and rename Manual-->Stabilized
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-29 10:56:04 +02:00
2cda0efd84
Commander: extend COM_ARM_WO_GPS to disable warning ( #23628 )
2024-08-28 17:33:58 +02:00
54f7b58007
Commander: lock down mav sys and comp id
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- keeps them as local params at init
- only allow to set at init
2024-08-23 11:19:25 -04:00
e0bb56b6a7
Commander: Failsafe: set clear condition for action Land like for RTL ( #23569 )
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For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.
Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-22 14:03:24 +02:00
ad1d9e1312
failsafe: do not add additional hold delay if failsafe action is hold
2024-08-16 16:26:20 +02:00
09638552b7
estimatorChecks: disable warning for imminent position failure if that is disabled ( #23556 )
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COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 13:57:37 +02:00
4a3cbecf01
Commander: only add *autopilot disengaged* to failsafe notifactions in special cases
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-16 11:04:37 +02:00
f7e6e1354a
commander: power check only keep error thresholds
2024-08-15 10:06:56 -04:00
4ed3e9e210
navigator: add failure enum
2024-08-14 11:08:02 +02:00
25fcb3c913
comander: trigger failsafe when navigator reports failure
2024-08-14 11:08:02 +02:00
3f17f15505
commander: allow FW manual pos control without global position
2024-08-09 12:51:09 +02:00
8b12b7c641
commander: extend local position 'relaxed' validity
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Relaxed position is valid as long as a velocity aiding source is active
(e.g.: optical flow or airspeed+sideslip)
2024-08-09 12:51:09 +02:00
4883f2128a
commander: allow external modes more time for initial response
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We've come accross a case where a ROS node would consistently take something
over 800 ms until the first arming check request subscription callback was
triggered.
After the first sample, the callback always triggered within the expected
timeframe.
Therefore this patch allows for more time right after registration until
timing out.
2024-08-05 08:43:56 +02:00
ba579245fb
battery_status: remove unused smart battery mode
2024-07-30 14:37:11 +02:00
Matthias Grob