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37,967 Commits 852 Branches 161 Tags
92abf0545adad1cebf7dec0c7fe99daf66255e0b
Commit Graph
1220 Commits
Author SHA1 Message Date
RomanBapst 92abf0545a GeofenceBreachAvoidance: fixed bug which caused min vertical distance to fence 
not to be calculated

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-09-02 15:45:19 +03:00
Jukka Laitinen 69021dbafa Increase navigator stack for 64-bit targets 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-08-24 10:16:27 -04:00
Julian Oes 0033c0fc51 navigator: fix param description 2021-08-05 15:18:55 +02:00
Hamish Willee b82464f0ef Parameter typo PLD_MAX_SRCH 2021-08-04 08:01:39 +02:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Daniel Agar dbaed99626 cmake remove git_ecl target 2021-07-13 10:03:06 -04:00
Igor Mišić 376450ccf0 navigator: reduce traffic alert messages 2021-07-08 07:28:38 +02:00
Beat Küng 594f47c9f8 mission: switch to events 2021-07-07 21:38:09 -04:00
Beat Küng ab701ae502 rtl: switch to events 2021-07-07 21:38:09 -04:00
Thomas a264541861 explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs. 2021-06-21 22:39:54 +02:00
Claudio Micheli b1829e5766 Predict and use braking distance when Pausing auto modes (for multicopters) (#17269) 2021-06-18 10:45:03 +02:00
David Sidrane 274c55a4ae navigator:mission Use inttypes 2021-06-16 17:07:47 +02:00
Julian Oes 1b67187770 navigator: protect against 0 acceptance radius 
This seems to slip in e.g. as part of the VTOL_LAND command.
 2021-06-02 07:28:19 +02:00
Julian Oes ab23a44b99 navigator: fix acceptance radius for multicopter 
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.

With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
 2021-06-02 07:28:19 +02:00
Daniel Agar 6549017993 navigator: GeofenceBreachAvoidance remove duplicate type alias 2021-05-23 17:51:08 -04:00
Julian Oes 518222bae4 navigator: fix home altitude feasibility check 
This includes the following:
- Remove warning/throw_error flag as it is always !home_alt_valid.
- Remove impossible code path when home_alt_valid = false and
  throw_error = false.
- Add home_alt_valid check in second check before using home_alt.
- Only use warning for the second check to allow waypoints below home.
- Don't return early when only warning.
 2021-05-20 10:50:54 -04:00
Julian Oes b7890529b2 navigator: reset mission feasibility warning flag 
Without reseting the warning flag commander would complain about a
warning but still allow arming and flying the mission which was weird.
 2021-05-20 10:50:54 -04:00
RomanBapst 6215e6c7ec navigator: do not emit geofence warnings if system is not armed 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
Alessandro Simovic 48f3bd4078 follow-me: formatting 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5f19eeaaa5 follow_target: copy also velocity fields from uorb 2021-05-05 16:13:50 -04:00
Alessandro Simovic 2d6bc9b6e0 follow_target: use actual velocity measurement 2021-05-05 16:13:50 -04:00
Alessandro Simovic 5d9b3504f7 follow-target: correctly set "updated" flag 2021-05-05 16:13:50 -04:00
Alessandro Simovic f1fca0939f follow-target: name variable correctly 2021-05-05 16:13:50 -04:00
Silvan Fuhrer 2c6b3eeb02 Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Silvan Fuhrer 5579a1d789 Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE 
It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Beat Küng 629f7ba15b params: ensure short description is only a single line 
So a UI can display it properly
 2021-03-23 12:55:11 -04:00
Daniel AgarandSander Smeets b20949e664 mission feasibility: Fix first wp too far message overflow 
Co-authored-by: Sander Smeets <sander@droneslab.com>
 2021-03-15 12:40:52 -04:00
Daniel Agar d37510a43d update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields 2021-03-09 10:36:34 -05:00
Daniel Agar d0c9a5fc93 OFFBOARD mode architecture overhaul (#16739) 
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
 2021-03-05 09:39:46 -05:00
Daniel Agar 94bcda7c57 navigator: poll mission to run feasibility checks immediately 2021-02-26 10:28:49 +01:00
David Jablonski ed7a5314d8 rtl: head towards home location after descend 2021-02-22 16:37:08 +01:00
David Jablonski aeccb621c5 rtl: added loiter radius for descending 2021-02-22 16:37:08 +01:00
Silvan Fuhrer 0ea8104344 select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
Julian Oes e6b1775bb6 vmount/navigator/mavlink: gimbal v2 changes 
This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
 2021-02-17 13:54:34 -05:00
Lorenz Meier 8d78b8a01d Change wording in GPS failure handling 
This matches better the different platforms that are using this functionality.
 2021-02-14 11:17:28 +01:00
Daniel Agar ce552a3364 navigator: RTL don't get invalid params 2021-02-13 00:34:56 +01:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer b9b9c55325 Navigator: change default of GF_ACTION to 2 (Hold) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-01 11:07:53 +01:00
Silvan Fuhrer 85d8e74609 Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 4d6749edc2 mission_block: change loiter handling logic 
- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
	--> reach exit heading (if applicable) --> declare mission item reached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 5c9fac58c8 Mission: do not autocontinue if in multicopter mode and next wp has a hold time 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer f3adf6d67f mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 017567792b Navigator: for loiter position acceptance, use L1 distance and loiter radius 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer acbada73dd RTL: VTOL: do the land delay loitering (RTL_LAND_DELAY) in fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 15:46:33 +03:00
Daniel Agar d1dfa26903 consume all available queued vehicle_commands 2021-01-26 12:00:18 -05:00
Julian Kent fc6b61dad1 Try 'min' for units 2021-01-18 16:26:53 +01:00
Julian Kent d99d52960e Fix default _rtl_xxx values 2021-01-18 16:26:53 +01:00
Julian Kent 5a9fe312b5 Fix test failure on rebase: set lpos valid 2021-01-18 16:26:53 +01:00
Julian Kent af8d178ae5 Fix spurious RTL triggers 
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
 2021-01-18 16:26:53 +01:00
Julian Kent b5f0a7ea03 Fix RangeRTL test 2021-01-18 16:26:53 +01:00