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2374 Commits

Author SHA1 Message Date
Matthias Grob
fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob
7e4a079e09 Commander: report when RC selected mode is not available 2021-11-09 16:05:25 +01:00
Matthias Grob
a593a51f05 Commander: fix mode initialization with RC 2021-11-09 16:05:25 +01:00
Matthias Grob
38ab7e6ab9 Commander: separate function for action request execution 2021-11-09 16:05:25 +01:00
Matthias Grob
0a02d8e774 Commander: handle denying disarm when not landed centrally 2021-11-09 16:05:25 +01:00
Matthias Grob
af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00
Matthias Grob
dcd26bd2b8 Commander: fix "Manual control lost" showing double in QGC 
because of the missing tab in the deprecated message.
 2021-11-09 16:05:25 +01:00
Matthias Grob
956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob
052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob
f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Matthias Grob
af607e3040 Use separate arm_request instead of vehicle_command for RC arming 2021-11-09 16:05:25 +01:00
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
Matthias Grob
fff2de43a5 commander_params: update description based on ManualControlSelector 2021-11-09 16:05:25 +01:00
Matthias Grob
12bb2de175 state_machine_helper: rever explicitly handling unavaialble mission 
It was already handled by the existing condition.
 2021-11-09 16:05:25 +01:00
Matthias Grob
4dc165efd0 Commander: don't retry to reach the desired_main_state if we reached it 2021-11-09 16:05:25 +01:00
Matthias Grob
d48302c841 Commander: send out manual control lost event 2021-11-09 16:05:25 +01:00
Matthias Grob
93bed7f670 vehicle_command: shorten arming action/origin enum names 2021-11-09 16:05:25 +01:00
Matthias Grob
709c909929 commander_params: correct RC override description 2021-11-09 16:05:25 +01:00
Julian Oes
b3a5072de5 commander/manual_control: use msg enum for params 
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
 2021-11-09 16:05:25 +01:00
Julian Oes
f1b1068824 commander: remove unused mode/main_state methods 
With the previous changes these seem no longer required.
 2021-11-09 16:05:25 +01:00
Julian Oes
53bd254502 commander: add valid check 
Better checking once too much than once too little.
 2021-11-09 16:05:25 +01:00
Julian Oes
93c505b163 commander: force arming is not an option from RC 2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
Julian Oes
5ae76bdc17 commander: fix potentially wrong user message 2021-11-09 16:05:25 +01:00
Julian Oes
bd0c1014d9 manual_control: support arming button 
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
 2021-11-09 16:05:25 +01:00
Julian Oes
2e9edfcd89 commander: only override according to param 
This got lost in the refactor earlier.
 2021-11-09 16:05:25 +01:00
Julian Oes
97d01f200e commander: move manual_control and switches out 
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
 2021-11-09 16:05:25 +01:00
Julian Oes
e49b596edc commander: add desired main state 
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
 2021-11-09 16:05:25 +01:00
Julian Oes
b6af068f25 commander: always reset posvel validity 
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
 2021-11-09 16:05:25 +01:00
Julian Oes
52563264e6 commander: move valid mission check inside 
I think it makes more sense to move this check inside of
main_state_transition.
 2021-11-09 16:05:25 +01:00
Julian Oes
a91fa7f3c1 commander: only move to POSCTL when armed 
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
 2021-11-09 16:05:25 +01:00
Julian Oes
66b069e788 commander: move main_state_transition out 
This is a first step to having a desired main state.
 2021-11-09 16:05:25 +01:00
Julian Oes
97aa06cc19 commander: move switch handling to manual_control 2021-11-09 16:05:25 +01:00
Julian Oes
08e58a44e9 Fix style 2021-11-09 16:05:25 +01:00
Julian Oes
ac121c676a commander: check for valid flag for manual_control 2021-11-09 16:05:25 +01:00
Julian Oes
cda6524421 manual_control: move override detection 
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
 2021-11-09 16:05:25 +01:00
Julian Oes
1c15cc11d8 manual_control: implement (dis)arming via command 2021-11-09 16:05:25 +01:00
Silvan Fuhrer
b216cddf49 state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-08 13:42:55 +01:00
JaeyoungLim
cda7c6ceaa
Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
bresch
1e94512719 FD: use flags union instead of bitmask 2021-11-05 09:45:52 -04:00
bresch
3f1025fb1e FD: add dedicated topic to log more internal states 
log imbalanced propeller check metric

add failure_detector_status message
 2021-11-05 09:45:52 -04:00
bresch
b8ed457371 Commander: trigger failsafe action if imbalanced propeller detected 2021-11-05 09:45:52 -04:00
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
Thomas Debrunner
32be88404a
commander: Only run estimator navigation checks when armed 2021-10-28 12:06:31 -04:00
Michael Schaeuble
5e1f62e9d0 Add option to warn the pilot in case of strong magnetic interference but still allow arming. 
This PR changes the COM_ARM_MAG_STR parameter to accept values. If the parameter is set to 2, the check is performed and a warning is logged but the vehicle can still arm.
 2021-10-27 09:59:18 +02:00
Beat Küng
48344c6e2a state_machine_helper: add missing 'break' (no behavior change) 2021-10-27 08:03:55 +02:00
RomanBapst
d84b0296d2 support orbit command in fixed wing mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander: support orbit mode for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FwPositionControl: publish orbit status

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander:reject orbit mode while doing a vtol transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FixedWingPositionControl: explicitly cast waypoint for Orbit status

FixedwingPositionControl: fill missing orbit_status fields

navigator_main: handle reposition/orbit corner cases

- set orbit rotation direction correctly
- send mavlink message when orbit is rejected

FixedWingPositionControl: correctly report rotation direction in orbit_status

navigator: hack to not break orbit while doing altitude changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

navigator: set cruise throttle for orbit command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-25 09:48:27 +02:00
Beat Küng
ad1bcfd77c commander: correct lockdown CLI description 2021-10-18 18:45:19 -04:00
Daniel Agar
d35cf78e4a commander: PX4_ERR if attitude or angular velocity become invalid 2021-10-14 09:17:50 -04:00