- in practice this is mostly useful for identifying incorrect rotations
which we mostly have in 45 degree increments
- handling a vehicle on the ground can easily disturb one mag by more than 30 degrees, so this is often distracting noise
- Introduced COM_LKDOWN_TKO parameter
- Introduced auto disarm for lockdown state
- Do not trigger flight termiantion if system is in lockdown
Signed-off-by: Claudio Micheli <claudio@auterion.com>
A parameter spcifies what the redundancy level for 5V rail supply
needs to be and a check makes sure that it's available before
taking off such that the user is aware of a broken or disconnected
redundant power module.
The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.
This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
lockstep simulation. Since i t is hard-coded it can't be adapted to
the speed factor.
2. The offboard signal can time out but no action will be taken just
yet. This means we end up in an in-between stage where no warning or
failsafe action has happened yet, even though certain flags are set
to a timeout state.
This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.
For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.
Also, going forward, timeouts lower than 0.5 seconds should be possible.
Innovation ratios have no unit: it is a ratio of to squared base unit.
For example:
[COM_ARM_EKF_VEL] = [vel_innov]**2 / ([GATE_SIZE]**2 * [VEL_VAR])
= [m/s]**2 / ([1]**2 * [m/s]**2)
= [1]
* 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
This reverts a previous change because we're not entirely sure about all
implications on various airframes. It makes sense to change this default
after the failsafe state machines have been consolidated and the various
failsafe behaviours are more predictable for all airframes (not just
multicopter).
I propose two changes to the battery failsafes:
1. Remove the return only mode because it means the drone is likely
to crash during RTL. I think this is not expected by users chosing
the option and therefore better not exposed as an option.
2. Make Return/Land the default battery failsafe because it is expected
that a drone does the right thing when battery is low.
Also, this changes the description of the Return/Land behaviour to make
the drop down menu less long and awkward in QGC.
Condition to enter the prearmed state, an intermediate state between disarmed and armed
* in which non-throttling actuators are active.
*
* @value 0 Disabled
* @value 1 Safety button
* @value 2 Always
It doesn't affect fixed wing flying anymore. I disabled it for the
deltaquad since I presume @sanderux prefers to have the feature disabled
even when flying in multicopter mode.
AAs discussed in the devcall this functionality is only useful for
rotary-wing (multicopter) flying since it's a big safety hazard to
accidentally bring a fixed wing out of an auto mode e.g. a mission
and fly away in a straight line or into an obstacle.
This param has no effect within the Firmware.
The param can be used for example:
* in log post processing to have context about the flight
* in ground stations to adapt the UI automatically
With this commit the use cases will be:
Success case:
- booting, no messages about OA, pre-arm check would fail if you try to arm and OA is not yet running
Fail case:
- if OA takes longer than timeout time defined in COM_ONB_BOOT_T, then an error message is triggered.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Since Timeout from onboard controller is something that does not require a lot of modifications there is no sense to having it parametrized.
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Added COM_ONB_LOSS_T and COM_ONB_REG_T parameters to specify thresholds that triggers "onboard link lost" and "onboard link regained".
Signed-off-by: Claudio Micheli <claudio@auterion.com>
Matthias Grob