fb71e7587c
failure_detector: add motor/ESC failure detection
2022-05-12 07:58:56 +02:00
c772e5230f
commander: remove compile time dependencies on non-commander parameters
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- this allows builds with mavlink fully disabled
- move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
2022-05-11 10:14:23 -04:00
5d6c8c986d
Commander: high wind speed handling updates
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- add logic for detecting high wind speed in Commander,
and handle it toghether with wind speed warning
- trigger and enforce RTL if COM_WIND_MAX is breached
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-09 19:09:40 +02:00
1aad82f87d
Commander: add max flight time RTL
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Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when
flight time is above this value. User can only override to LAND mode,
but not proceed flight beyond that.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-05-09 19:09:40 +02:00
b3776134b8
Commander: ensure diconnected battery is cleared from bit field
2022-05-06 10:32:27 -04:00
45dff7f71a
commander: Add prearm check for flight termination
2022-04-25 11:57:37 -04:00
af839c828d
Set Tune's Volume for Power-Off in Commander to default volume of tune_control message
2022-04-25 11:47:43 -04:00
3c6b72c33b
commander: improve set_in_air_position
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- set local home using global pos and global home
- set local home using GNSS pos and global home
- set global home using global ref of local frame and local home
2022-04-19 15:29:25 +02:00
d2f2ba59a4
commander: refactor home position setter
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- always try to set local or global home position when possible
- set global home with GNSS position if global pos from EKF isn't
available
- reset home when significantly moved from home before takeoff (checking
lpos or gpos or GNSS)
- reset home on takeoff transition
- reset home on mavlink arm command
- remove "home required accuracy" parameters, rely on validity flags
2022-04-19 15:29:25 +02:00
f6bdc42977
param-reset: Add option to reset all configurable params, but not the ones that store vehicle information
2022-04-14 07:57:48 +02:00
f968a5947d
ArmStateMachine: port arming_state_names into the class
2022-04-06 10:02:14 +02:00
074080c816
Commander: separate out arm state machine to class
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Pure refactoring and just the first step to avoid conflicts on the way.
2022-04-06 10:02:14 +02:00
80aef942cd
safety and safety button: refactoring #19413
2022-04-05 07:57:37 +02:00
8c3ba7adb4
commander: silence GPS no longer validity PX4_WARN
2022-04-04 14:43:11 -04:00
0c31f63896
sensors: add baro calibration and cleanup
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- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
2022-03-26 16:08:41 -04:00
875a2cc423
commander: remove loop counters and update UI LED control to use monotonic time
2022-03-24 22:43:26 -04:00
879622547c
commander: only process one vehicle_command/action_request per cycle
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- things like arming requests can be dependent on current nav state
that might requested by a previous command, but the state machine
transition will only happen after command processing
2022-03-24 22:43:26 -04:00
e31304d7d5
Quadchute param update ( #19351 )
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New parameter for actions after a quadchute (COM_QC_ACT)
Co-authored-by: Jonas <jonas.perolini@rigi.tech >
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2022-03-24 10:27:32 +01:00
e6ed595651
Commander: make last_fail_time_us parameter a reference instead of pointer
2022-03-23 15:04:48 -04:00
eee4aaee4f
Commander: remove dynamic position velocity probation period
2022-03-23 15:04:48 -04:00
a7ddaf08c4
vehicle_status_flags.msg: remove condition_ prefix to reduce message size
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-03-23 10:37:51 -04:00
db1fb6acf7
Commander: no battery time based RTL when already landed
2022-03-23 10:49:38 +01:00
b85c4ec475
Commander: rename land detection subscription for consistency
2022-03-23 10:49:38 +01:00
182980526f
commander: allow rearming grace period for arming switch only
2022-03-09 08:42:21 +01:00
11f617ca9b
ekf2: default to in air and not at rest
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- this is a more conservative default if a vehicle isn't set (no land detector running)
- handled horizontal preflight failures in commander when disarmed
rather than overloading xy_valid and v_xy_valid flags
- ekf2 no longer depend on arming or standby status
2022-02-22 16:59:10 -05:00
1d7791dad6
commander: monitor GPS validity and EKF2 dead reckoning
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- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
2022-02-22 09:46:21 -05:00
6de5d24e00
Added VTOL Takeoff navigation mode ( #19027 )
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* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
2022-02-15 14:56:57 +01:00
ae0bb8371d
Commander: message planned battery action with warning together
2022-01-31 20:27:06 -05:00
405852b5c8
Commander: only disallow RC override during battery failsafe delay
2022-01-31 20:27:06 -05:00
5ec21835a4
Commander: ensure low battery failsafe flying unatended without GPS
2022-01-31 20:27:06 -05:00
1911ec0085
Commander: fix user messageing for low battery failsafe delay
2022-01-31 20:27:06 -05:00
955aad0dfb
Commander: consistent hysteresis initialization
2022-01-31 20:27:06 -05:00
d10f9030ad
Commander: add delay before executing low battery failsafe action
2022-01-31 20:27:06 -05:00
3af315f2c3
Commander: change battery failsafe to return action instead of executing
2022-01-31 20:27:06 -05:00
8eed43b515
Commander: put battery warning and failsafe action in separate functions
2022-01-31 20:27:06 -05:00
ad447ab223
commander: respect control mode for prearm requirements
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- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
2022-01-31 09:48:37 -05:00
3f25349eb9
commander: don't reject VEHICLE_CMD_DO_SET_ACTUATOR
2022-01-25 18:44:58 -05:00
8a01135a93
Commander: more changes to use events with escs and battery failures
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
d122513197
extend support for Battery status message
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
2022-01-13 08:40:34 +01:00
b3d830dd11
Mantis: move power off tune to commander
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This way we don't allocate inside the interrupt context.
2022-01-10 23:04:10 -05:00
aa007dadee
commander: fix emergency power off
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From what I can see the CONFIG_BOARDCTL_POWEROFF is not really used
anywhere, however, the BOARD_HAS_POWER_CONTROL is something that is set,
e.g. for the Mantis, to allow power off.
2022-01-10 23:04:10 -05:00
6301fa35c1
commander: add command to power off
2022-01-10 23:04:10 -05:00
71d8b15b73
commander: fix COM_HOME_EN missing case
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- VEHICLE_CMD_COMPONENT_ARM_DISARM is yet another path that calls set_home_position()
2022-01-09 20:52:07 -05:00
8e04934eab
commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well
2021-12-24 20:06:13 -05:00
7d7d707db9
commander: add COM_HOME_EN parameter to enable/disable home position
2021-12-23 15:46:31 -05:00
f68ae39840
Commander: avoid RC actions during calibration
2021-12-22 09:08:23 -05:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
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Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
986cf288da
dataman: remove obsolete persistence and reset reason
2021-12-12 12:06:35 -05:00
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
a9b9362fea
commander: handle system broadcast commands
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This changes the command handling logic to accept commands which are
targeted at any system, signaled by target_system set to 0.
2021-12-01 20:17:35 -05:00
Alessandro Simovic