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Commit Graph
2654 Commits
Author SHA1 Message Date
Beat Küng e018bd09da WIP commander+mavlink: implement MAVLink standard modes 
# Conflicts:
#	src/modules/mavlink/mavlink
 2023-05-10 11:29:30 +02:00
Beat Küng 66d5315e8f commander: add config overrides 2023-05-10 11:29:30 +02:00
Beat Küng c99330e6db commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-05-10 11:29:30 +02:00
Beat Küng af62227a83 commander: implement external modes and mode executors 2023-05-10 11:29:29 +02:00
murata,katsutoshi 4bb4bc185b commander: level calibration delete unused SENS_BOARD_ROT param access 2023-04-30 21:36:43 -04:00
Eric Katzfey 018ca6b49d VOXL2 board support updates (#21426) 2023-04-19 11:21:02 -04:00
Beat Küng aa5b9ae638 fix failsafe: correctly handle Hold RC loss action 
Otherwise the additional mode check triggers an RTL which takes precedence
over Hold.
Introduced in 132e9d2439
 2023-04-04 07:03:42 +02:00
Silvan Fuhrer 07531d29b7 FailureDetector: fix attitude check for tailsitter 
-set roll/pitch used for failure detection during transition to 0
-rotate estimated attitude 90° in FW flight

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
AlexKlimaj e375e02974 Add GPS spoofing state 2023-03-14 20:28:32 -04:00
Matthias Grob 132e9d2439 modeCheck: add warning when RC enabled but not present 2023-03-08 09:32:56 +01:00
Matthias Grob 898c0ae5a8 mode_requirements: refactor order of setting flags 2023-03-08 09:32:56 +01:00
Matthias Grob 7fa8dfe2d2 rcAndDataLinkCheck: always update manual control availability 
and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
 2023-03-08 09:32:56 +01:00
Matthias Grob f498b90c41 mode_requirements: add manual control for manual modes 2023-03-08 09:32:56 +01:00
Eric Katzfey daa302cdbe Changes to allow the commander module to be built and run on Qurt (#21186) 
* Changed exclusion to rely on the definition of PX4_STORAGEDIR
 2023-03-06 09:49:07 -05:00
Tahsincan Köse 8737099a33 commander: failsafe framework fix missing return in actionStr function (#21245) 
- there needs to be a default statement for the compiler to work when this function is called.
 2023-03-06 09:21:20 -05:00
Tony Samaritano 2b73b6df70 commander: fixes valid mag count in HIL 2023-03-01 08:05:23 +01:00
Silvan Fuhrer 4259b5adac Commander: copy sensor_gps in HomePosition::update() and store relevant fields in separate variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer 006321e278 Commander: remove unused param COM_POS_FS_EPV 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer 526e066d9a Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer e6af8b9aa6 Commander: Home Position: move gps checks on when to allow setting home pos inside HomePosition class 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Beat Küng 83c8c79af5 commander failsafe: add API to defer failsafes 2023-02-07 19:27:51 -05:00
Jukka Laitinen deb6053d56 Update status leds every time when prearm check status changes 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2023-02-07 08:02:32 +01:00
Silvan Fuhrer d9a4d1d5c4 Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks 
Check fails if airspeed reading is above FW_AIRSPD_MAX.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 20:43:38 -05:00
Silvan Fuhrer 32cab66c44 Commander: hide hint to param in low position accuracy event for end users 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 3ca126cc46 Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer cbc4c35bcf Commander params: improve meta data for max flight time and wind 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Silvan Fuhrer 6d84da5cf1 Commander: add max flight time warning (starting at 90%) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Beat Küng b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Beat Küng a8628c9d9c fix commander: clear takeoff_time only on disarm 
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
 2023-02-01 08:48:09 +01:00
Beat Küng 8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng 7988491e37 failsafe simulator: improve spacing for multi-line checkboxes 
Reduces line-height to 100% in that case.
 2023-02-01 08:48:09 +01:00
Hamish Willee f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
Silvan Fuhrer a210c96aa9 Commander: ssimplify error messages for LOITER rejection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +01:00
Silvan Fuhrer 148ffe4e25 add support for DO_CHANGE_ALTITUDE 
Do the same as DO_REPOSITION wit only the altitude field populated
and MAV_DO_REPOSITION_FLAGS set, which means:
- switch to Loiter mode if not already in it
- set the current altitude to what is specified in the altitdue field,
keep current altitude setpoint otherwise
- keep current position setpoint
- fall back to current estimated position in case a position setpoint
is not finite

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-25 16:40:27 +01:00
Daniel Agar bd9d09663f commander: avoid uint64 timestamp implicit float conversions 
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
 - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
 2023-01-19 17:48:40 -05:00
Silvan Fuhrer 623c1418bb Commander: improve messaging for vtol fixed-wing system failure arming check 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
Silvan Fuhrer 303b879748 VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
bresch 3d50a7ce44 CAL_MAG_SIDES: do not save with factory cal 2023-01-13 10:48:01 -05:00
Mathieu Bresciani 767fcb2774 sensors: prefix mag config param SENS instead of CAL (#20723) 
* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC
 2023-01-12 09:42:36 -05:00
Silvan Fuhrer bc9abf8c36 Commander: always update parameters, not just if disarmed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-11 10:01:08 +01:00
murata,katsutoshi d821404e4f commander: failsafe define enums for actions (#20880) 2023-01-07 10:10:57 -05:00
Beat Küng 5217bedd4b commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags 2022-12-14 07:55:04 +01:00
Thomas StastnyandDaniel Agar c5dc1221b6 failure detector: use multiplication instead of division 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2022-11-30 14:51:07 -05:00
Thomas Stastny 4e8381e8cf failure detector: negative guard sqrt in std dev calc 2022-11-30 14:51:07 -05:00
Thomas Stastny eb80e0410c failure detector: fix imbalanced prop metric time interval 2022-11-30 14:51:07 -05:00
Matthias Grob 331cb21dee manual_control_setpoint: change stick axes naming 
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.

I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.

While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
 2022-11-28 19:25:55 +01:00
Matthias Grob 83246c84cf Switch manual_control_setpoint.z scaling from [0,1] to [-1,1] 
To be consistent with all other axes of stick input and avoid future
rescaling confusion.

Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
 2022-11-28 19:25:55 +01:00
Matthias Grob fbe5024fa8 commander_params: remove deprecated COM_RCL_ACT_T 
It's now covered with COM_FAIL_ACT_T
 2022-11-16 08:11:09 +01:00