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42,399 Commits 852 Branches 161 Tags
d2011e99b2017c9e22e5f3d42d4cd981ecd9324d
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55 Commits

Author SHA1 Message Date
Eric Katzfey d2011e99b2 commander: add Open Drone ID arming check (#21652) 2023-06-01 07:52:52 +02:00
Patrick José Pereira ca1d32a29d HealthAndArmingChecks: Use snprintf over sprintf 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2023-05-22 07:46:54 +02:00
AlexKlimaj e375e02974 Add GPS spoofing state 2023-03-14 20:28:32 -04:00
Matthias Grob 132e9d2439 modeCheck: add warning when RC enabled but not present 2023-03-08 09:32:56 +01:00
Matthias Grob 7fa8dfe2d2 rcAndDataLinkCheck: always update manual control availability 
and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
 2023-03-08 09:32:56 +01:00
Matthias Grob f498b90c41 mode_requirements: add manual control for manual modes 2023-03-08 09:32:56 +01:00
Eric Katzfey daa302cdbe Changes to allow the commander module to be built and run on Qurt (#21186) 
* Changed exclusion to rely on the definition of PX4_STORAGEDIR
 2023-03-06 09:49:07 -05:00
Tony Samaritano 2b73b6df70 commander: fixes valid mag count in HIL 2023-03-01 08:05:23 +01:00
Silvan Fuhrer 006321e278 Commander: remove unused param COM_POS_FS_EPV 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer 526e066d9a Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-24 13:32:38 +01:00
Silvan Fuhrer d9a4d1d5c4 Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks 
Check fails if airspeed reading is above FW_AIRSPD_MAX.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 20:43:38 -05:00
Silvan Fuhrer 32cab66c44 Commander: hide hint to param in low position accuracy event for end users 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 9b3a28dff5 Commander: add local_position_accuracy_low flag, incl. warning and RTL 
Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.

Set low accuracy threshold to 50m by default for FW and VTOL.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 16:47:11 +01:00
Silvan Fuhrer 6d84da5cf1 Commander: add max flight time warning (starting at 90%) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-01 08:48:09 +01:00
Beat Küng b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Hamish Willee f25abbc80a Fix magnetometer typo 2023-01-30 10:24:16 +01:00
Daniel Agar bd9d09663f commander: avoid uint64 timestamp implicit float conversions 
- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
 - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
 2023-01-19 17:48:40 -05:00
Silvan Fuhrer 623c1418bb Commander: improve messaging for vtol fixed-wing system failure arming check 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
Silvan Fuhrer 303b879748 VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-01-13 19:02:21 +03:00
Beat Küng 5217bedd4b commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags 2022-12-14 07:55:04 +01:00
Beat Küng 640f9cc801 commander: fix initialization order of _failsafe_flags 
In this case it did not cause any problems.
Fixes a compiler warning:
/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp:39:21: error: member ‘HealthAndArmingChecks::_failsafe_flags’ is used uninitialized [-Werror=uninitialized]
   39 |           _reporter(_failsafe_flags)
      |                     ^~~~~~~~~~~~~~~
 2022-11-14 11:27:23 +01:00
Damien SIX 5910f8982a fix warning (mavlink): connection to gcs 2022-11-08 13:02:23 +01:00
Beat Küng 6511866408 fix commander: check that offboard_control_mode data is recent 
This is a regression from https://github.com/PX4/PX4-Autopilot/pull/20172
 2022-11-02 10:11:29 -04:00
Beat Küng 0996e5319f commander: add preflight check for hardfault files on SD card 2022-11-02 09:59:00 -04:00
Daniel Agar c32cf21b63 commander: estimator check shorten messages 
- otherwise these are awkwardly split in mavlink
 2022-10-25 08:02:47 +02:00
Daniel Agar a7b909234b commander: estimator nav test is not an arming check 2022-10-25 08:01:30 +02:00
Daniel Agar 309465858a commander: elapsed time checks avoid subtracting unsigned integers 
- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
 - most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
 - likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
 2022-10-19 20:21:36 -04:00
Daniel Agar e211e0ca0e commander: limit some estimator checks to prearm 2022-10-19 19:06:56 -04:00
Matthias Grob 5ca28dd6dc Use isAllFinite() in all places that check finiteness on entire vectors or matrices 2022-10-19 19:09:20 +02:00
Beat Küng d542ffc10c refactor vehicle_status_flags: rename to failsafe_flags 2022-10-13 16:05:25 -04:00
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 acaa50a448 geofence: add and report reason for violation 2022-10-11 22:31:20 -04:00
mcsauder ebc88afe46 Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached. 2022-10-11 22:31:20 -04:00
Beat Küng 693af897b3 commander: check if battery was already disconnected on arming 
If so, don't report.
Happens e.g. with USB powered pixhawk.
 2022-10-11 22:31:20 -04:00
Beat Küng 24142bc014 commander: RcCalibrationChecks: avoid param access on each cycle 
reduces cpu usage a bit
 2022-10-11 22:31:20 -04:00
Beat Küng 6fda555cba commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks 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
Beat Küng 82911e48be fix commander: check estimator type & avoid timestamp wrap-around 
Before it was possible that the publication timestamp was never than 'now',
leading to wrap-around.
 2022-10-11 22:31:20 -04:00
Beat Küng e8ac9b266b px4events: add @skip-file tag 2022-09-22 09:42:39 -04:00
Daniel Agar b45daac0e8 commander: fix angular velocity validity 
- vehicle_angular_velocity timestamp can be newer than saved now
 2022-09-09 09:14:09 -04:00
Beat Küng 43c5f14aa0 commander: update arming & health protocol, add modes to event hash 2022-09-01 17:07:23 -04:00
Beat Küng 295caaea60 events/enums.json: remove redundant manual_control_input 2022-09-01 17:07:23 -04:00
Beat Küng dcb9b712bb refactor commander: move vehicle control mode to ModeUtil 2022-09-01 17:07:23 -04:00
Beat Küng f197c8884d commander: move esc checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng f17f38197d commander: move estimator checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng cfe3d793bf commander: move battery handling into arming checks 2022-09-01 17:07:23 -04:00
Beat Küng 4c41934bb4 commander: inline HealthComponentIndex::HealthComponentIndex 
Saves around 1KB flash
 2022-08-25 22:02:15 -04:00
Beat Küng 13c93db11a commander: use circuit breaker params directly in arming checks 2022-08-25 22:02:15 -04:00
Beat Küng dbb814ff24 HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage 
- print list of events whenever they change if
  CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
 2022-08-25 22:02:15 -04:00