fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
7e4a079e09
Commander: report when RC selected mode is not available
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
38ab7e6ab9
Commander: separate function for action request execution
2021-11-09 16:05:25 +01:00
0a02d8e774
Commander: handle denying disarm when not landed centrally
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
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
956997eb1e
Replace arm_request and mode_request with combined action_request
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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
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
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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
fff2de43a5
commander_params: update description based on ManualControlSelector
2021-11-09 16:05:25 +01:00
12bb2de175
state_machine_helper: rever explicitly handling unavaialble mission
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It was already handled by the existing condition.
2021-11-09 16:05:25 +01:00
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
2021-11-09 16:05:25 +01:00
d48302c841
Commander: send out manual control lost event
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
709c909929
commander_params: correct RC override description
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
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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
f1b1068824
commander: remove unused mode/main_state methods
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With the previous changes these seem no longer required.
2021-11-09 16:05:25 +01:00
53bd254502
commander: add valid check
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Better checking once too much than once too little.
2021-11-09 16:05:25 +01:00
93c505b163
commander: force arming is not an option from RC
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
5ae76bdc17
commander: fix potentially wrong user message
2021-11-09 16:05:25 +01:00
bd0c1014d9
manual_control: support arming button
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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
2e9edfcd89
commander: only override according to param
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This got lost in the refactor earlier.
2021-11-09 16:05:25 +01:00
97d01f200e
commander: move manual_control and switches out
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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
e49b596edc
commander: add desired main state
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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
b6af068f25
commander: always reset posvel validity
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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
52563264e6
commander: move valid mission check inside
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I think it makes more sense to move this check inside of
main_state_transition.
2021-11-09 16:05:25 +01:00
a91fa7f3c1
commander: only move to POSCTL when armed
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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
66b069e788
commander: move main_state_transition out
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This is a first step to having a desired main state.
2021-11-09 16:05:25 +01:00
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
08e58a44e9
Fix style
2021-11-09 16:05:25 +01:00
ac121c676a
commander: check for valid flag for manual_control
2021-11-09 16:05:25 +01:00
cda6524421
manual_control: move override detection
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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
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
b216cddf49
state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-08 13:42:55 +01:00
cda7c6ceaa
Enable offboard actuator setpoints
2021-11-07 15:38:42 -05:00
1e94512719
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
3f1025fb1e
FD: add dedicated topic to log more internal states
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log imbalanced propeller check metric
add failure_detector_status message
2021-11-05 09:45:52 -04:00
b8ed457371
Commander: trigger failsafe action if imbalanced propeller detected
2021-11-05 09:45:52 -04:00
5dfb8e594a
FD: add imbalanced propeller check
2021-11-05 09:45:52 -04:00
f02786d112
Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL
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- 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
32be88404a
commander: Only run estimator navigation checks when armed
2021-10-28 12:06:31 -04:00
5e1f62e9d0
Add option to warn the pilot in case of strong magnetic interference but still allow arming.
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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
48344c6e2a
state_machine_helper: add missing 'break' (no behavior change)
2021-10-27 08:03:55 +02:00
d84b0296d2
support orbit command in fixed wing mode
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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
ad1bcfd77c
commander: correct lockdown CLI description
2021-10-18 18:45:19 -04:00
d35cf78e4a
commander: PX4_ERR if attitude or angular velocity become invalid
2021-10-14 09:17:50 -04:00
Matthias Grob