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99 Commits

Author SHA1 Message Date
Beat Küng
38d3739b6d refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost 2022-10-11 22:31:20 -04:00
Beat Küng
e4bb219d10 vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status 2022-10-11 22:31:20 -04:00
Beat Küng
455b885f86 commander: use new failsafe state machine and add user intention class 2022-10-11 22:31:20 -04:00
Thomas Debrunner
0af87ec745 mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support 2022-10-04 14:40:59 -04:00
Beat Küng
cfe3d793bf commander: move battery handling into arming checks 2022-09-01 17:07:23 -04:00
Beat Küng
13c93db11a commander: use circuit breaker params directly in arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
b2cb164c12 commander: replace health flags with health_report from arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
6d1fb92eb7 commander: rework arming checks to use the events interface 2022-08-25 22:02:15 -04:00
Matthias Grob
fb455c8f4b vehicle_status: reorder message definition 
for readability. No functional changes.
 2022-07-12 15:50:49 +02:00
Matthias Grob
44c4b8fa85 Style refactoring related to safety button 2022-06-08 05:12:05 -04:00
Igor Misic
08dcc72e1f commander/safety: replace safety.msg with Safety class (#19558) 2022-05-23 06:54:37 +02:00
Matthias Grob
47532ca07b ArmStateMachine: replace state name array with method 2022-05-20 13:51:51 +02:00
Silvan Fuhrer
2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer
635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Alessandro Simovic
fb71e7587c failure_detector: add motor/ESC failure detection 2022-05-12 07:58:56 +02:00
Silvan Fuhrer
5d6c8c986d Commander: high wind speed handling updates 
- 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
Roman Bapst
6de5d24e00
Added VTOL Takeoff navigation mode (#19027) 
* 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
Thomas Debrunner
eb69f15d3a health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message 
Add SYS_STATUS flag for parachute
 2021-12-14 09:41:12 -05:00
Matthias Grob
7a2ef4a917 Commander: don't publish RC_IN_MODE to vehicle_status 
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
 2021-11-09 16:05:25 +01:00
bresch
5dfb8e594a FD: add imbalanced propeller check 2021-11-05 09:45:52 -04:00
Silvan Fuhrer
f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
RomanBapst
3b27864e53 vehicle_status: added field for geofence violation 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-10 10:46:49 +03:00
Daniel Agar
bb12fce66c delete RATTITUDE flight mode 2021-03-09 10:47:00 -05:00
Matthias Grob
26d74bf57d Commander: enable failsafe delay for position and mission mode 
Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
 2021-02-04 10:54:52 +01:00
Daniel Agar
336176b2f0 Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time 
- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
 2020-12-16 09:38:05 -05:00
Daniel Leonard Robinson
fa4818e467
vehicles: add new vehicle type: Airship (#14862) 
Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-08-10 08:52:51 +02:00
Beat Küng
5f8c6512b3 vehicle_status: add latest arming/disarming reason 
Makes it easier to debug.
 2020-08-04 10:53:20 -04:00
Claudio Micheli
6358dd400a failure detector: added esc failures detection 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Daniel Agar
5d33b9e999
delete Outback Challenge (OBC) AUTO_RTGS (datalink loss) and AUTO_RCRECOVER (rc loss) 2020-03-11 22:45:55 -04:00
Jacob Dahl
d08ec05bab PWM automatic trigger system (ATS) for parachutes (#13726) 
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
 2020-01-06 20:14:06 -05:00
Silvan Fuhrer
ebdc29bc5f Airspeed Selector: enable airspeed_validated in control modules (#12887) 
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
 2019-11-21 14:14:25 -05:00
Daniel Agar
a2bd65460d commander: add vehicle-status nav_state change timestamp 2019-11-19 10:24:52 -05:00
Julien Lecoeur
8f910f8435 ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters (#13249) 
* Conversions lib: add quaternion getter

* vehicle_status: add flag is_vtol_tailsitter

* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters
 2019-10-28 09:27:53 +01:00
Andrei Korigodski
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
Timothy Scott
21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott
714c90b9db Updated code style to fix confusing if conditions 2019-06-13 10:04:26 +02:00
Timothy Scott
a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Daniel Agar
9bad61b86b
Improve robustness to bad and lost airspeed data (#11846) 2019-04-30 03:08:23 -04:00
Claudio Micheli
cd47cefb03 Some more code cleanup. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Daniel Agar
6dec451bab HEARTBEAT and commander failsafe handling cleanup 2019-03-12 11:24:33 +01:00
Matthias Grob
77d37c5b7f msg: add orbit main and navigation state 2018-12-08 22:34:57 +01:00
bresch
9be0c97346 Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class 2018-08-28 11:23:25 -04:00
bresch
9a6fef62ab Vehicle_Status_msg - Add attitude_failure flag to vehicle_status message 2018-08-28 11:23:25 -04:00
TSC21
86baa6a90a beautify some identation 2018-08-09 13:40:48 +02:00
TSC21
e932030d88 add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-09 13:40:48 +02:00
acfloria
78950f2b39 Fix format and remove ets driver from fmu-v2 build 2018-04-11 15:15:28 +02:00
acfloria
634697946a Add switch logic for high latency telemetry in commander 
Switch to the high latency telemetry, if available, if every low latency link is lost. Switch back if any low latency link is regained. Only indicate that all links are lost if all high and low latency links are lost. Allow different timeouts for high and low latency links.
 2018-04-11 15:15:28 +02:00
Daniel Agar
e395b3578f delete unused ARMING_STATE_ARMED_ERROR state 2018-03-29 10:25:56 -04:00
Nicolas de Palezieux
8c0542bdb8 msgs : add support for precision landing 2018-01-15 10:27:23 +01:00
Daniel Agar
fc7c8b4b89 vehicle_status delete engine_failure_cmd 2017-12-27 02:41:10 +08:00