b8dba34fd0
commander arming_state_transition: do not call prearm_check if !fRunPreArmChecks
...
Reason: if you don't want preflight checks, you don't want prearm checks
either (these are the circuit breakers, like usb connected check).
The other changes are cleanup and rework of operations.
In most cases, arming_state_transition is called with fRunPreArmChecks set
to true, so no change in behavior.
The cases with fRunPreArmChecks=false are:
- unit tests
- in_arming_grace_period=true (quick arming after disarm)
- VEHICLE_CMD_PREFLIGHT_CALIBRATION (does not transition to armed)
2019-08-19 10:54:56 +02:00
dab66e92d3
Fix typo
2019-08-15 14:31:23 +02:00
bf25c462b2
Orbit failsafe: switch internal_state to Posctrl such that Manual-Positionctrl is activated after failsafe recovery. This is needed because Orbit can only be invoked via vehicle_command msg.
2019-08-15 14:31:23 +02:00
a4fb18a6c4
commander: fix arming auth param translation
...
The int32 param COM_ARM_AUTH is mapped to a packed struct. However, this
struct was not actually packed (anymore) and therefore the values were
applied incorrectly.
I fixed this by applying the packed attribute. By using a union with a
int32_t I could rid of the warning about address-of-packed-member.
2019-08-14 13:29:07 -04:00
9e3493bd6e
Update commander_params.c
...
Addressing parameter description syntax
2019-08-14 14:17:33 +02:00
3ab5932adf
updating pre-takeoff and landding values to defaults
2019-08-14 14:17:33 +02:00
963467b4df
splitting preflight and land disarm times into 2 parameters
2019-08-14 14:17:33 +02:00
2eb9fb9ed6
Commander: move esc_status as local variable.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
09d79b221f
Simplified esc_status healthiness logic.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
75c336c00c
uavcan_main: replaced printf messages with PX4_INFO
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
1e04d718f6
uavcan escs: Modified esc_status reporting to have _rotor_count published.
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
187a025dfe
Commander: added esc_status prearm checks
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2019-08-09 09:41:17 +02:00
89a0a3acb6
PreflightCheck: improve output in case of mag inconsistency
2019-08-07 18:44:39 +02:00
45187e1aa8
Improve magnetometer inconsistency check
...
To check directional difference between the magnetometer field vectors
instead of vector component difference.
2019-08-07 18:44:39 +02:00
a917f22b65
sensors: create vehicle_acceleration module ( #12597 )
2019-08-07 05:05:48 -04:00
8f5b7de498
uORB::Subscription minor API cleanup
...
* the forceInit() method was combined with the existing subscribe()
* delete unused last_update()
2019-08-06 10:28:49 -04:00
4d5f922e7a
commander: use shutdown_if_allowed() to check for shutdown safety
...
Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
5133453822
vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN
...
Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
4a330c6e0a
commander: do not reboot on USB disconnect when armed
...
Signed-off-by: Andrei Korigodski <akorigod@gmail.com >
2019-08-05 05:55:33 -07:00
e69398c09f
introduce uORB::PublicationQueued and transition most orb_advertise_queue usage
2019-08-04 10:08:09 -04:00
d0f1a551e9
manual_contol_setpoint: fix mode slot numbering ( #12578 )
...
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
* The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
2019-08-01 12:27:58 -04:00
bc9fb26ccd
commander esc_calibration move to uORB::Subscrition
2019-07-31 20:30:05 -04:00
97445b60aa
commander preflightcheck update orb usage to uORB::SubscriptionData
2019-07-28 10:22:47 -04:00
98dfa30838
commander: fix disarming for rovers
...
We have to ignore the landed flag for rovers, it doesn't really apply
for them.
2019-07-26 02:52:38 -07:00
308d91e5ff
commander: prevent potential disarms in-air
...
This fixes the terrifying case where the drone disarms in-air just
because it receives a MAVLink disarm command. We now check param2 for a
magic number which enforces arming/disarming.
This is added to the mavlink protocol in:
https://github.com/mavlink/mavlink/pull/1162
2019-07-26 02:52:38 -07:00
72ddf3e0aa
tune_control: use orb queue advertisement consistently
2019-07-25 10:38:57 -04:00
e964af9262
commander_params: enable RC override by default
...
It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
2019-07-22 09:57:37 +02:00
706500f19c
Commander: make RC override multicopter only
...
AAs discussed in the devcall this functionality is only useful for
rotary-wing (multicopter) flying since it's a big safety hazard to
accidentally bring a fixed wing out of an auto mode e.g. a mission
and fly away in a straight line or into an obstacle.
2019-07-22 09:57:37 +02:00
5c1ab06343
Commander: pure refactor of RC override conditions
2019-07-22 09:57:37 +02:00
aaad71faab
commander_params: enable automatic disarming after land detection by default
2019-07-18 14:36:50 +02:00
2deab6c607
commander: refactored state-machine strings
...
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
2019-06-17 20:09:05 +02:00
4e360064d9
commander refactor and cleanup offboard control mode
2019-06-15 20:45:26 -04:00
c4bb6b53e8
Changed soft stop check
2019-06-13 10:04:26 +02:00
21760a5856
Changed constant name to UNMANNED_GROUND_VEHICLE
2019-06-13 10:04:26 +02:00
714c90b9db
Updated code style to fix confusing if conditions
2019-06-13 10:04:26 +02:00
a134da6e12
Removed is_rotor_wing, replaced with vehicle_type
2019-06-13 10:04:26 +02:00
6816f2a4ce
commander force offboard control update when first entering mode
...
- fixes #12241
2019-06-12 20:25:05 -04:00
79d4c09d59
uORB::Publication simplify and cleanup
...
- base class is now template
- drop linked list
- virtualization no longer required
2019-06-12 08:48:19 -04:00
ac4458460d
FailureDetector - update hysteresis to comply with new interface
2019-06-05 16:53:08 +02:00
96da46d1aa
Failsafe - cosmetic changes
2019-06-05 16:53:08 +02:00
5becc24a1f
Failure detector - in failure detector preflight check, get
...
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
2019-06-05 16:53:08 +02:00
33a94c8191
Failure detector - change snake_case function names to camelCase
2019-06-05 16:53:08 +02:00
03ad4ffd47
FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask
2019-06-05 16:53:08 +02:00
d3c9436f84
flight termination - rename in_flight_termination to flight_termination_triggered
2019-06-05 16:53:08 +02:00
59265f6663
Failure detector - Add flight termination comments, make format
2019-06-05 16:53:08 +02:00
0655f7603b
FailureDetector - Increase min value of FD_FAIL_P/R to 60 degrees
2019-06-05 16:53:08 +02:00
38345be41a
FailureDetector - Add roll and pitch failures hysteresis
2019-06-05 16:53:08 +02:00
a72de95c94
Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description
2019-06-05 16:53:08 +02:00
81bb7888de
Failure Detector - Add Failure Detector check to preflight checks
2019-06-05 16:53:08 +02:00
7b531bcaef
Failure Detector - Play TONE_PARACHUTE_RELEASE_TUNE when force failsafe is set
2019-06-05 16:53:08 +02:00
Beat Küng