Before if you were above the maximum altitude you could not command to
go down anymore until the position controller had overshoot to under the
maximum altitude again.
using only <px4_getopt.h> as include, cleanup related includes
added check that all the option are valid (myoptind >= argc). if there are invalid options on some script that might now lead not to run commands
My recent PR exceeded the 50 char limit (apparently the last character must be null?).
This new attempt changes: "Preflight Fail: Horizontal position estimate Error" to: "Preflight Fail: Position estimate Error"
In fact, this newest wording is more easily understood by the average user and is actually more consistent with the other COM_ARM_EKF_xxx related errors:
COM_ARM_EKF_HGT --> "Preflight Fail: Height estimate Error"
COM_ARM_EKF_VEL --> "Preflight Fail: Velocity estimate Error"
COM_ARM_EKF_POS --> "Preflight Fail: Position estimate Error"
By using the uORB::Subscription API we use a separate subscription
rather than `orb_copy` on the existing file descriptor used in
sensors through `px4_poll`.
This fixes a very peculiar problem that we observed in SITL in CI for
fixedwing. The events were as follows:
1. `sensors` does `px4_poll` on the gyro topic (as normal), and gets
the latest sample using `orb_copy`.
2. A parameter update happens when the mag is initialized and triggers
`VotedSensorsUpdate::parameters_update()` where `orb_copy` happens
before the main loop in `sensors` has started a `px4_poll`.
3. `sensors` now does the `px4_poll`, however waits indefinitely because
it has already copied the latest sample.
Also, the `px4_poll` will never time out because in lockstep the
simulator waits for the next actuator control message which it never
gets and therefore it never sends the next sensor message with a new
timestamp to advance the time.
This only happens for fixedwing because there is only one "uORB path"
through the system unlike for multicopter where a gyro sample can get
picked up by either `sensors` or directly `mc_att_control`, so the
system can survive if `sensors` has "drops".
changed: "Mission rejected: land start required."
to: "Mission rejected: landing pattern required."
This new message is more clear to the average user. When using RTL_TYPE = 1, mission feasibility checker adds the requirement of a landing sequence beginning with a MAV_CMD_DO_LAND_START and ending with a MAV_CMD_NAV_LAND with at least 1 other waypoint prior to the land waypoint. The warning message "Mission rejected: land start required." is a common warning to trigger whenever the mission is blank or the mission is uploaded without a landing pattern. The wording in this message confusing to the average user as they usually do not know the inner workings of the "landing pattern" that their planning software helps them make (e.g. Qgroundcontrol). The only users who would know what a "Do_Land_Start" mission item is are advanced users already and this new message should work equally well for them as well as the non-advanced user.
Daniel Agar