* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* RTL Direct: fix rlt time prediction in final lanidng phase
It was previously checking if RTL was already running through
active(), which though actually is coming from the mission mode
that rtl_direct inherits from.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary active() check
As the method setRtlPosition() is anyway not called when RTL is active,
plus it checks the wrong thing, as it is the active() method from
the Mission mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL Direct: remove unnecessary land_detector_sub.update()
It is already getting updated just before the .get()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL time estiate: do not distinguish land from sink for MC
To avoid rtl time prediction jump when entering LAND phase due
to no correct handling of loiter altitude (LAND phase doesn't
have to start only when lower then RTL_DESCND_ALT).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* Revert "RTL Direct: remove unnecessary active() check"
This reverts commit d5165ba902e65839e792cc13197761c7f77748f9.
* Revert "RTL Direct: fix rlt time prediction in final lanidng phase"
This reverts commit 5af7c928fbf86d560dcd35dd9aea3e38f1e4c735.
* RTL: Make sure to call the initialilze function of the Navigator RTL modes
* RTL: use the navigator_mode run function instead of the on_xxx function directly
* RTL: Make sure that for vtol the right vehicle type is used for each RTL state
* RTL: move to loiter distance estimate should substract the loiter radius for fixed wing
* RTL: time prediction: do not assume VTOL is in FW at start of RTL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: fix is_in_climbing_submode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL: time estimation: subtract loiter radius from distance in rtl_direct_mission_land
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* RTL direct: poll important topics also on_inactive such that time estimate is correct
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* navigator rtl: fix setter spacing
* navigator rtl: check pointer before dereferencing
* RTL: only subract loiter radius when in FW
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Konrad <konrad@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
Avoid flying into terrain using the distance sensor.
Enable through the parameter NAV_MIN_GND_DIST.
Only active during commanded descents with vz>0 (to prevent climb-aways),
excluding landing and VTOL transitions.
It changes the altitude setpoint in the triplet to maintain the current altitude
and republish the triplet. We also change the mission item altitude used for
acceptance calculations to prevent getting stuck in a loop.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* FixedWingPositionControl: split vtol backtransition logic into separate method
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* review changes
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* removed unused parameter
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* small renaming of transition mode
Signed-off-by: RomanBapst <bapstroman@gmail.com>
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
chfriedrich98