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Author SHA1 Message Date
Silvan Fuhrer 9d33f8f3f0 Mission validity checks: make clear that MIS_DIST_1WP only warns, not invalidates 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-11-01 16:19:19 +01:00
Silvan Fuhrer 5a53190ed5 FW Position Control: handle invalid z or vz measurement in case of nav_state DESCEND 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-25 14:06:00 +02:00
Silvan Fuhrer c342f9baf7 Commander: remove mode_req_local_alt requirement from DESCEND 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-25 14:06:00 +02:00
Silvan Fuhrer b6eb8dbfd9 Navigator: land: set lat/lon fields of triplet to NAN if global position is not valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-25 13:56:20 +02:00
Silvan FuhrerKonradMatthias Grob
 		3b0dac6840 RTL: fix RTL time estimation (#23807) 
* 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>
 2024-10-24 17:22:19 +02:00
Silvan Fuhrer 34f65682ad Commander: remove -local- from failsafe string to make it simpler to understand 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-10 10:28:59 +02:00
Silvan Fuhrer 9cb12d8e8e HealthAndArmingChecks: improve messaging for position estimate failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-10 10:28:59 +02:00
Silvan Fuhrer 0d31226b1c AirspeedSelector: enable sensor checks right after catapult launch 
Airspeed sensor failures are crucial to catch early during catapult/hand launches,
as otherwise the large airspeed error can lead to the vehicle diving. Thus the
_in_takeoff_situation flag, which tells the validator when to enable the checks,
is already set to false when !landed and launched.
For runway takeoffs the logic in unchanged.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-08 13:16:17 +02:00
Silvan Fuhrer 172948c5eb FailsafeFlags: add comment where battery_warning is defined 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-27 14:25:27 +02:00
Silvan Fuhrer 8fdf0931e5 Commander framework: only warn and do not re-start RTL if already in RTL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-27 14:25:27 +02:00
Silvan Fuhrer 43509b5cff Update README.md - add Christian as rover maintainer (#23719) 2024-09-24 18:09:30 +02:00
Silvan Fuhrer cacbfcecd8 aiframes: remove setting of CBRK_IO_SAFETY to enabeld, as that's already the param default (#23702) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-23 09:10:02 +02:00
Silvan Fuhrer 1c9c5e51c2 boards: cuav x7pro: remove build of ROVER and Q_ATTITUDE_ESTIMATOR to save flash 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-16 09:11:23 +02:00
Silvan Fuhrer 9ca0630376 airframes: SIH_tailsitter: add SENS_DPRES_OFF to bypass airspeed cal 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-13 15:53:52 +03:00
Silvan Fuhrer 8eaf93468e Commander: feedback string for arming/disarming: make clear when from gesture 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-05 18:06:29 +02:00
Silvan Fuhrer d967cdbb48 Manual control: rename SOURCE_RC_STICK_GESTURE to SOURCE_MANUAL_CONTROL_GESTURE 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-05 18:06:29 +02:00
Silvan Fuhrer 556a302a09 Logger: replace RC keyword by 'manual control' 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-05 18:06:29 +02:00
Silvan Fuhrer f7c35291ee Rover Differential: remove RC keyword from params 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-05 18:06:29 +02:00
Silvan Fuhrer 81cf6a736d Commander: add VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE to list of externaly handled commands (#23642) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-05 11:20:39 +02:00
Silvan Fuhrer 6fa6360aef Commander: always allow to switch to LAND mode (#23580) 
Special handling for LAND mode: always allow to switch into it such that if used
as emergency mode it is always available. When triggering it the user generally wants
the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-09-03 18:10:37 +02:00
Silvan Fuhrer c86d44f831 Commander: remove 2 decimals from COM_FAIL_ACT_T 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-29 10:56:04 +02:00
Silvan Fuhrer 6b3e3aa363 Commander: improve param description of COM_POSCTL_NAVL and rename Manual-->Stabilized 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-29 10:56:04 +02:00
Silvan Fuhrer 8bfd3b0f62 platforms/nuttx/init/stm32f7: rc.board_arch_defaults reduce LOGGER_BUF to 40 
To get some breathing space on setups with memory-intensive components (e.g. UAVCAN).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-26 13:13:11 -04:00
Silvan Fuhrer e0bb56b6a7 Commander: Failsafe: set clear condition for action Land like for RTL (#23569) 
For many failsafes, it is possible to select RTL and Land as actions.
In this commit I synchronize the clear condition for these two action
options, to always only clear on Disarm or manual mode change.
Reasoning is that for the user RTL and Land is a similar action and
I would thus expect them to be as similar as possible. And I in general
would rather not clear a failsafe state instead of too often clearing it.

Example: GF failsafe with action Land --> even if the drone is marginally
within the GF again, I want it to proceed with the Landing unless
I manually intervene.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:03:24 +02:00
Silvan Fuhrer 6ef82ada6e Navigator: make sure VTOL transitions in Descend mode are alays triggered (#23578) 
It previously didn't catch switches to Descend from a manual mode,
as both modes have navigation_mode_new=nullptr.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:02:32 +02:00
Silvan Fuhrer 435e9665b3 RTL: cone: never climb more than to RTL_RETURN_ALT (#23558) 
This is to prevent that a large NAV_ACC_RAD leads to very high return altitudes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-19 07:51:33 +02:00
Silvan Fuhrer 4f66410d24 ROMFS gazebo iris opt flow: increase SENS_FLOW_MAXHGT to 15m (#23557) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 15:58:36 +02:00
Silvan Fuhrer 09638552b7 estimatorChecks: disable warning for imminent position failure if that is disabled (#23556) 
COM_POS_FS_EPH can be set to -1, in which case the actual failure eph is INFINITY.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 13:57:37 +02:00
Silvan Fuhrer 4a3cbecf01 Commander: only add *autopilot disengaged* to failsafe notifactions in special cases 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 11:04:37 +02:00
Silvan Fuhrer a0d22a4d21 FW Position Control: make explicit when underspeed detection logic is en-/disabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-13 16:55:26 +02:00
Silvan Fuhrer acc0cd7e8a FW Position Control: disable underspeed handling during auto takeoff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-13 16:55:26 +02:00
Silvan Fuhrer afc360d637 FW Position control: do not invalidate airspeed from negative readings 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-13 16:55:26 +02:00
Silvan Fuhrer a737036633 RTLDirect: check for terrain collision in every state of RTL beside when landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-08 13:37:36 +02:00
Silvan Fuhrer 588c4a04c8 RTL direct: publish NavigatorMissionItem 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-08 13:37:36 +02:00
Silvan Fuhrer b01c179eed NavigatorMissionItem.msg: remove instance_count 
This information is duplicate to mission_result/mission_id.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-08 13:37:36 +02:00
Silvan Fuhrer 876730a9be FW Position Controller: enable flaps during hand/catapult launch (#23460) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-07 15:38:55 +02:00
Silvan Fuhrer 75ce550db3 Navigator: add terrain collision avoidance logic for Mission/RTL 
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>
 2024-07-30 17:50:54 +02:00
Silvan Fuhrer b74e46b1ac SITL airframes/Navigator: remvoe reference to removed param MIS_LTRMIN_ALT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-30 17:50:54 +02:00
Silvan Fuhrer 9257744da3 TECS: reduce default of FW_T_SPD_STD to reduce airspeed measurement delay (#23441) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-29 11:14:59 +02:00
Silvan Fuhrer d841bf124f fw_position_control: use time literals 2024-07-26 18:01:44 +02:00
Silvan Fuhrer 97561d7802 Commander: never allow to switch out of Terminate state with user intend 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-26 09:53:07 +02:00
Silvan Fuhrer ee8030de56 Commander: do not switch out of Terminte after disarm 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-26 09:53:07 +02:00
Silvan Fuhrer ebcfb5348c Navigator: increase stack by 40 bytes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-25 09:22:23 +02:00
Silvan Fuhrer 77709c2948 FW Position control: clean up param descriptions 
Mostly to save flash, but also to improve generally.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-08 16:44:09 +02:00
Silvan Fuhrer 1f33abb4e9 battery_status.msg: remove unused fields (#22938) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-04 11:57:26 +02:00
Silvan Fuhrer 33701aa3d5 BatteryStatus: remove voltage_filtered_a 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-03 16:41:49 +02:00
Silvan Fuhrer c2ae6a7e24 BatteryStatus: remove current_filtered_a 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-03 16:41:49 +02:00
Silvan Fuhrer 6d549811bc fmu v3: disable GYRO_FFT to save flash 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-02 11:44:54 -04:00
Silvan Fuhrer 1ae96d6509 EKF2: fix builds without CONFIG_EKF2_RANGE_FINDER 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-26 11:05:38 +02:00
Silvan Fuhrer c0d693bc50 v5_stackcheck: disable CONFIG_DRIVERS_TONE_ALARM 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-17 12:26:53 -04:00
Silvan Fuhrer ad58808cf3 update gazebo classic (#23276) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-17 16:25:56 +02:00
Silvan Fuhrer f646f1ba98 AirspeedSelector: only update with lpos if coming from GNSS (#23268) 
Compared to GNSS, alternate position observation methods are less accurate
and thus generally not good enough to do airspeed validation with.
Airspeed validation is thus disabled if no GNSS fusion is happening.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-14 17:10:08 +02:00
Silvan Fuhrer 3cbe2ae2b3 v5_default: remove Local Position Estimator from default build 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-14 10:52:02 -04:00
Silvan Fuhrer f4e76cd392 remove deprecated BAT_ params (#22872) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-14 14:42:32 +02:00
Silvan Fuhrer 5dd76332ba Matrix: print full matrix already if only one element is not symmetric 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-11 21:14:13 -04:00
Silvan Fuhrer 30b63f6a82 AirspeedSelector: set default of ASPD_FS_T_STOP to 1 and clean up meta data 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-10 12:42:54 +02:00
Silvan Fuhrer 5513dfa95d AirspeedSelector: define start/stop delay params as floats 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-10 12:42:54 +02:00
Silvan Fuhrer 831160389e VTOL Tailsitter: remove throttle spike also for quad-chute 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer 199a2f43be VTOL Tailsitter: treat back transition abort like a front transition 
for throttle blending.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer b5988ed38f VTOL Tailsitter: add back transition throttle blending 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer f119b15ff1 VTOL Tailsitter: set differential thrust to 0 in first 50ms of front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer 77a3099154 VTOL Tailsitter: fix motor spikes to 0 when starting back transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer 3a2b973aba VTOL Tailsitter: add front transition throttle blending 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer a081354933 VTOL tailsitter: fix motor spike to 0 when finishing front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 16:11:59 +02:00
Silvan Fuhrer 1f7b4843dd FW position control: specify modes where FW_PN_R_SLEW_MAX applies 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 09:32:23 +02:00
Silvan Fuhrer b8998933c9 AttitudeSetpoint.msg: FRD instead of NED for body frame 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-07 09:32:23 +02:00
Silvan Fuhrer b53d2cdf39 battery: reset current filter when transitioning to FW (#22256) 
VTOLs consume a lot more power in hover copared to fixed-wing fligt.
The remaining flight time thus should reset if one switches from MC to FW,
as otherwise it takes several minutes until the estimate goes down.
 2024-06-07 09:28:37 +02:00
Silvan Fuhrer efe2a52eb4 ROMFS: remove MIS_DIST_1WP customizations in airframes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-29 21:00:35 -04:00
Silvan Fuhrer 752051470f Navigator: increase default of MIS_DIST_1WP to 10km 
The previous default of 900m leads to many warnings if left
unchanged, especially if the vehicle is already in-air when
the Mission is started.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-29 21:00:35 -04:00
Silvan Fuhrer 0379048ad2 mavsdk_tests: increase acceptance radius for position check on offboard landing 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-29 20:46:26 -04:00
Silvan Fuhrer 032ae69eee VTOL: remove _dt passing as it's no longer used (and was wrong) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-28 14:54:33 +02:00
Silvan Fuhrer f8fe7c7aa3 VTOL Standard: fix transition pusher motor slew rate 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-28 14:54:33 +02:00
Silvan Fuhrer 1206005ed2 RTL_status: improve comment 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-27 12:03:16 +02:00
Silvan Fuhrer 42bca65cbf RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-27 12:03:16 +02:00
Silvan Fuhrer b9d3b9f211 RTL_mission_fast: continue mission if RTL is triggered while in Mission 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-27 12:03:16 +02:00
Silvan Fuhrer 34cb69898e FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-26 10:44:40 +02:00
Silvan Fuhrer 97191bd60f autopilot_tester: for mission end timeout check take speed factor into account 
And increase the (simulation time) timeouts.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-23 16:37:31 +02:00
Silvan Fuhrer 818e318334 autopilot_tester: reduce mission distance for wind world 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-23 16:37:31 +02:00
Silvan Fuhrer 59232c27ae autopilot_tester: use normal VTOL mission for airspeed blockage test 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-23 16:37:31 +02:00
Silvan Fuhrer 926e7878af RT: only chose mission RTL if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer 5fab21d099 MissionBase: hasMissionLandStart should only return true if mission is valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 13:47:17 +02:00
Silvan Fuhrer 05672f343d TECS: check if integrator update is finit prior applying 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Silvan Fuhrer 974ead4015 FW position control: catapult/hand-launch: enable without launch detection 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Silvan Fuhrer 6fec452c4b FW position control: catapult/hand-launch: do not cut throttle if not landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-11 10:42:59 +02:00
Silvan Fuhrer 64505b4b9c Mission params: update description of MIS_TKO_LAND_REQ 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer 93ed910977 FeasibilityChecks: only require both or neither TO/LND when landed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer 9f799be855 Navigator: remove unused method 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-09 13:24:46 +02:00
Silvan Fuhrer cf87cd27f5 logger: reduce interval of rtl_status logging 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-02 09:49:35 -04:00
Silvan Fuhrer 67fb70a65e logger: make logging of rtl_status not optional 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-04-02 09:49:35 -04:00
Silvan Fuhrer da39d075ac Commander enums: shorten failsafe event messages 
Such that the focus is on the important keywords.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer f6430a27d6 Commander enums: capitalize battery level key words 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer 4ae2fbd171 Commander enums: capitalize flight mode names 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 10:25:18 +01:00
Silvan Fuhrer 6e15dd5328 Commander: trigger warning when arming denied due to check failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:34:11 +01:00
Silvan Fuhrer d330d47495 EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid 
Helps to reduce spamming of less important warnings.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:56 +01:00
Silvan Fuhrer 6d8273483c Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-15 09:33:41 +01:00
Silvan Fuhrer 6373d8d243 commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first (#22887) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-14 16:30:06 +01:00
Silvan Fuhrer 68fcfc43ef mro-zero classic: remove gyro fft module to save flash (#22878) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-14 14:20:51 +01:00
Silvan Fuhrer 9f4ae0a85d vtol: only publish generic warning through mavlink to safe flash (#22870) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-12 13:27:13 +01:00
Silvan FuhrerandKonradRudin 00cc68baa1 Commander: make low remaining flight time configurable and fix clearing condition (#22863) 
* Commander: make low remaining flight time configurable and do not clear

- add _ACT param to disable/warning/RTL this feature
- publish rtl flight time estimate also in RTL, and thus fix re-validation
- make failure message clearer, distinguish from battery low

* battery check: add hysteresis for declaring battery_low_remaining_time false again


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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
 2024-03-12 12:56:01 +01:00
Silvan Fuhrer 7fe5ee64fe rtl_direct: fix on_inactive() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-03-12 11:27:49 +01:00