- 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>
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>
- use fw pitch setpoint offset during transition
- take over previous vertical velocity and smooth out over transition
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.
to get rid of derivative spikes when navigator is
continuously updating the yaw setpoint in the
triplet for a POI but is running at a lower rate.
The proper solution is to generate that yaw setpoint
with high rate in the flight task and have the triplet
just guid to the next waypoint at low rate.
to allow descending by stick for reliable land detection.
Issue:
Stick smoothing gets completely reset to state when not taken off
-> downwards velocity setpoint is gone when not taken off
-> in_descend flag of land detection is never true when not taken off
-> when landing but falling out of landing it landing detection fails
bafore taking off and landing again
Currently only for the Z axis. If the current downward velocity is more
than twice the maximum allowed value, the emergency braking mode is
activated. In this mode, a higher vertical acceleration and jerk is used
until the vehicle stops moving.
Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'. Stop.
Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
The both results of ?: should be of same type, and some compilers give error
on this:
" implicit conversion from 'float' to 'double' to match other result of conditional"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This was only handled outside because FlightTaks lived in the
multicopter position controller which produces the data that was
needed but now it doesn't make sense anymore to handle this
subscription separately.
It's better to have it inside the base task to have the data available
on task activation sucht that e.g. Altitude mode can take over smoothly
from Position mode.
This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
This was an idea to be able to reinitialize on mode change e.g. from
Holde mode to Land mode which are currently all still handled by
FlightTaskAuto and don't require a task switch.
But I found out it leads to issues because the last setpoint and the
ekf reset counter state from the previous task are lost and as a result
the setpoint transition cannot be handled consistently anymore.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
Matthias Grob