Move into functions.
Reset probation time and recalculate checks if a mode change is demanded to give the operator ability to regain control as soon as possible after nav performance is regained. (+11 squashed commits)
Squashed commits:
[a4bb800] commander: enable pilot to quickly recover from loss of position accuracy
[19e16a0] commander: rework postal probation time
[f96284e] commander: rework bad pos and vel test probation time
[00d5f0c] commander: Allow EKF preflight checks to pass with moving vehicle
Separates the 'is using GPS' and the GPS quality checks.
Uses a reasonable subset of the GPS quality checks which allows checks to pass if the vehicle is moving.
[4cdfb5c] commander: remove unused variable
[349385a] commander: add EKF GPS quality checks to pre-arm checking
Only perform check if GPs checking is activated by parameter setting.
Display fault messages that makes it clear if EKF quality checks are failing or the EKF is not using GPS for another reason. We do not want to confuse this with GPS lock.
[340ae29] commander: make position invalid fail-safe more sticky
Require check to pass for 7 seconds before exiting failsafe. This is required because if GPs is failing innovation tests for a prolonged period, the EKF will periodically reset to the GPS and report good accuracy at the time of reset.
Adding this delay gives time for an underlying error condition (eg bad IMU or compass) to be re-detected.
[b04ac95] commander: Increase RAM allocation to eliminate low stack warnings
[9dca12f] commander: add missing position invalid fail-safe responses
[69f264d] commander: Update position invalid fail-safe responses
Replace separate logic for each case with a generic function
Add velocity checks.
[8e8cef1] commander: rework position validity checks
Consolidate existing checks for global and local position validity and add checking of velocity accuracy.
Enable checks to be bypassed using the CBRK_VELPOSERR parameter.
The check if stick were touched was only working in one direction (per
axis) because fabsf was used incorrectly.
However, this check is still only a differential check triggered by
fast movement and does not trigger if someone slowly moves a stick to
the side. Also, the sensitivity depends on the rate of the commander
loop and/or the RC update loop. The correct solution would be a proper
filtering and trigger for movement.
vehicle_status_flags_pub passed to publish_status_flags() was always null,
thus orb_advertise() was called each time.
Note that it did not produce a memory leak.
* If you move in LAND, AUTO or HOLD the sticks the system will give control back to the pilot
* If you do not connect any RC the system will default to HOLD and will allow you tablet control
* If you gain position lock for the first time the system will re-evaluate the mode switch (so if you dropped down to alt hold it will now go into position)
* If the system breaches the Geofence it will now always drop back to POSCTRL if the sticks are moved
This is necessary to not have systems deep-discharge the battery while sitting idle. While at it we also deny arming in low battery conditions to ensure people who just landed with a low battery do not take off again and fail to get a successful RTL.
Matthias Grob