* Treat UAVS diffrently from manned aviation
* Added fake_traffic testing functionality,
* Added NAV_TRAFF_AVOID Hold and Landmode
* Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance.
Boards where no Hardware GUID is defined will send 0 as GUID.
Right now collision avoidance for more than one FMU without Hardware GUID is not possible.
We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
The navigator has a notion of resetting the triplets which means the
triplet setpoints are set to invalid and therefore not to be used by
downstream modules such as flight tasks.
However, before this patch, the triplets were not published if invalid
meaning that a valid triplet would stay the truth until a new valid
triplet would get published.
E.g. this lead to the corner case case where we publish a valid triplet
with an IDLE setpoint on ground in HOLD and then don't update the
triplet while flying in POSCTL mode. Later, when RTL is engaged, the
flight task will use IDLE until navigator (which runs slower) has
published the next triplet.
The fix involves two main changes:
- Publish invalid triplets to avoid stale triplets.
- Avoid publishing the triplet on every iteration in manual modes by not
setting `_pos_sp_triplet_published_invalid_once = false`.
When testing this I realized that a mission upload during RTL would stop
RTL. This is because the mission is updated while the mission navigation
mode is not active and reset_triplets() is called from there. This is
now only done for the case where we are actually in mission navigation
mode. The fact that a mission is updated when not active also seems
wrong and is something to fix another time.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
This adds a flight task to catch the case where we want to do an
emergency descent without GPS but only a baro.
Previously, this would lead to the navigator land class being called
without position estimates which then made the flight tasks fail and
react with a flight task failsafe. This however meant that landed was
never detected and a couple of confusing error messages.
This applies if NAV_RCL_ACT is set to 3 "land".
Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.
* Add return to land to mission
This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.
The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.
The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.
This hotfix should however be lower risk.
Low Orbit Ion Cannon