2c8ef05c2d
Add COM_DLL_EXCEPT to specifiy exceptions for data link loss failsafe
2025-03-28 17:41:24 +01:00
ca2ed655b8
Allow negative differential pressure if parameter enabled ( #24434 )
2025-03-24 09:42:36 +01:00
440d76b839
commander_params.c - COM_QC_ACT is action not command ( #24541 )
2025-03-19 16:35:05 +01:00
42d6298dbf
commander: fix accel sensor present flag
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This must have been a copy paste mistake.
2025-03-13 07:13:08 +01:00
a3c387fa85
fix commander: separate state tracking for battery_unhealthy failsafe ( #24493 )
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There is already another check for battery_unhealthy, so a separate state
and ID are required.
Fixes the error:
ERROR [failsafe] BUG: duplicate check for caller_id 74
2025-03-12 16:46:02 +01:00
c4ade17b38
Commander: Never clear link loss failsafe automatically, also not when failsafe is Hold ( #24317 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-12 12:46:42 +01:00
2aaa54037c
ekf2: split gnss pos/vel flags
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They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
2025-03-11 14:14:40 +01:00
d857a278ff
Commander: use is_ground_vehicle() consistently instead of checking vehicle_type
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
7cb6464cfb
VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-03-04 12:15:01 +00:00
2d1652f499
Commander: fix parachute trigger
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Setting "lockdown" disables the actuators. In this mode,
"force_failsafe" has no effect as the actuators are disabled, so the
parachute is not getting released as it requires the output to change to
its failsafe value.
2025-03-03 15:41:39 +01:00
b5f37c9fa6
Simplify Battery-related Enum Naming ( #24265 )
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* Simplify battery-related enum naming
* Fix mistakenly removed string in enum names
* Fix missing renamings
* Update outdated file
* msg: Increase battery_status version since the enum naming was changed
* Revert message version increase
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-28 11:42:40 -09:00
1f5a9e526c
dont change mode_change-flag if mode was not allowed to change
2025-02-28 14:23:58 +01:00
14941bc270
Commander: handle mode change rejection the same for RC and MAVLink
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Previously, when requesting a mode switch to Position without a valid
position estimate through an RC button, the mode change to Position mode
was not rejected if COM_POSCTL_NAVL was set to 1 and instead the system
switched to Altitude mode.
If the mode request instead came in through MAVLink it was rejected.
This commit aligns the two ways of changing a flight mode.
Signed-off-by: Silvan <silvan@auterion.com >
2025-02-28 14:22:36 +01:00
93b8bc1515
commander: add hysteresis for avionics power low/high check
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We had a setup where the voltage was right at the threshold and the check
toggled continuously.
It still triggers immediately, and then keeps for 15 seconds
2025-02-27 22:24:28 -05:00
84134e5123
clean up variable declaration
2025-02-26 13:48:59 +01:00
2169ea561b
PR: add optical flow arming check ( #24375 )
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* add optical flow arming check
* removed deprecated mavlink_log_critical
* change SYS_HAS_NUM_OF description, keep max sensor at 1 since multiple instances are currently not support.
* restructure if/else blocks
2025-02-26 08:41:12 +01:00
3119510f25
Remove health_component::avoidance
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
1f2dba68d2
remove avoidance library and logic
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Signed-off-by: Silvan <silvan@auterion.com >
2025-02-18 14:33:16 +01:00
fe5c887895
mag check: do not require mag 0
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sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
2025-02-14 16:12:20 +01:00
e3fd50667d
Mag cal: automatically disable internal mags if external ones are available
2025-02-14 16:12:20 +01:00
bd2a009217
commander: remove MC nav test
2025-02-05 11:58:04 -05:00
9e5cfa330a
Commander: Quick calibration supports mag too
2025-02-04 21:58:03 -05:00
4c2e69b2e6
estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration
2025-01-30 18:45:10 +01:00
f142363575
HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes
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Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes.
2025-01-30 18:45:10 +01:00
7e47605871
batteryCheck: separate event messages for low, critical and emergency battery states
2025-01-29 15:32:47 +01:00
a0a2bdaea5
commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed ( #24249 )
2025-01-28 14:33:15 +01:00
5e2848312d
Commander: start timer for auto disarm after spoolup
2025-01-14 14:55:34 +01:00
8070a9b362
Commander: remove not used include of blocks.hpp
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Signed-off-by: Silvan <silvan@auterion.com >
2025-01-06 09:24:29 +01:00
5cf85e320a
offboardCheck: acceleration setpoints only require vehicle attitude control
2024-12-19 17:58:38 +01:00
aca5a70964
standard_modes: add vehicle-type specific standard modes
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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE .
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
2024-12-18 07:12:36 +01:00
8a18e5b00c
commander: accelerometer calibration respect rotation
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- accel cal use Accelerometer calibration class to fully respect
rotation (both internal and external sensors)
2024-12-17 22:26:01 -05:00
d416cd2a6c
Commander: remove COM_POS_FS_DELAY
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A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
2024-12-03 17:31:56 +01:00
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout ( #24069 )
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* Avoid unsigned integer underflow
* ESC check: add brackets to timeout for readability
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2024-12-03 17:14:09 +01:00
8ccd43dc1b
refactor commander: remove unused argument is_armed in Report class
2024-11-21 14:16:22 +01:00
be300b767d
commander: ensure health report is always sent out before failsafe notificaation
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As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
2024-11-21 14:16:22 +01:00
044d13635d
Commander: Change user facing messages to "Remote ID" instead of "OpenDroneID"
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Apprently users reference the system like that and OpenDroneID
might already be too technical, less understandable to some.
2024-11-21 11:38:23 +01:00
53d920ea33
batteryCheck: fix enabling circuit breaker still causing battery failsafes
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Failing checks caused failsafe flags to stay true when enabling the circuit breaker but not rebooting.
Resetting the failsafe flags state when the circuit breaker is set resolves this issue.
2024-11-20 13:25:20 +01:00
08155d20f8
estimatorCheck: have low position warning as health component failure to fix reporting
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
3093c593a5
Commander: put action for low position estimation accuracy into parameter
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-15 15:32:53 -05:00
651552c9b8
Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability
2024-11-12 21:21:40 -05:00
2f69f3fc2e
mode_requirements: require only relaxed local position for auto land, in order
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to enable auto land with optical flow
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-11-12 15:24:25 +01:00
c342f9baf7
Commander: remove mode_req_local_alt requirement from DESCEND
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-25 14:06:00 +02:00
0c451552c7
EKF2: add validity flags to global pos message ( #23787 )
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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-10-23 10:19:04 +02:00
808153b049
COM_THROW_SPEED - arm or start motors clarification ( #23822 )
2024-10-23 13:13:56 +11:00
a0e6f9cd70
commander: try to fix arm authorization spamming
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-10-14 14:18:00 +03:00
34f65682ad
Commander: remove -local- from failsafe string to make it simpler to understand
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-10 10:28:59 +02:00
9cb12d8e8e
HealthAndArmingChecks: improve messaging for position estimate failure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-10-10 10:28:59 +02:00
4a08ebafbc
failsafe: prevent immediate low battery failsafe for existing low battery state
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This happens when BAT_CRIT_THR allows arming with a critical battery level. With this change it still fails the checks but only warns instead of doing the failsafe action because that would immediately land the vehicle before it has taken off.
2024-10-08 18:49:23 +02:00
7941310afd
batteryCheck: allow COM_ARM_BAT_MIN to be set lower than BAT_CRIT_THR
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Which still allows to arm the vehicle even if it already has a critical battery level.
2024-10-08 18:49:23 +02:00
a5b17f14b0
batteryCheck: refactor to consistent parameter variable naming
2024-10-08 18:49:23 +02:00
Roman Bapst