* astyle: remove max line length (#25717)
* failsafe unit test: add cases for 1 allow taking over from degraded failsafes 2 not cause immediate takeover when failsafe happens because of mode switch
The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land.
The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason.
* commander/failsafe: fix user takeover not possible in fallback Land action when configured RTL is not possible
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* failure_injection: improve previously vague motor faulure
Reading it again I decided adding the sentance in 4d2170c13e is not clear enough.
* docs/safety: add a motor failure detection paragraph
The functionality is in my eyes pretty basic but so far completely undocumented so I went through the code and added a paragraph based on questions I received.
* Subedit
* Apply suggestion from @hamishwillee
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* rc_update: remove 1% deadzone for all channels
this should be handled higher level.
* Remove all references to the RC{n}_DZ parameters
Regular expression: RC.{0,2}_DZ
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* ROMFS: do not exit airframe loading if SYS_AUTOSTART is 0
Do not treat 0 as a magic value that skips the aiframe loading.
Instead leave it tot he rc.autostart to load an airframe that if finds
appropriate (can be defined in external aiframe).
Signed-off-by: Silvan <silvan@auterion.com>
* ROMFS: adjust airframe load spacing and message/comment wording
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Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This was apparently added 10 years ago to store metadata of UAVCAN components within the PX4 binary. The parameters in the xml are mostly early UAVCAN ESC parameters that are presumably out of date and not used. Also it does not scale to maintain metadata for all the possible UAVCAN components and it causes confusion when users read the metadata documentation because these parameters are not available in PX4. That's why I suggest to remove it.
In an effort to reduce configuration space.
I've not seen use for this option.
If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference.
Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
Currently if you configure a battery capacity the battery library calculates a remaining flight time and you by default get an RTL when the flight time - return time is running out.
Since the state of charge threshold based battery failsafes `COM_LOW_BAT_ACT` are disabled by default I was asked to also disable the flight time based failsafe to be consistent.
* Doc Orbit: update and clarify configurability and behavior around limits
* run prettier
* Fix up link to table
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Note: Some files are autogenerated and I did not yet
go through each source of generation to fix it there.
Instead I adjusted the filter to only exclude those
such that we can fix things in steps.
- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux
- scale was not set as unknown (-1) even though it is since it's never updated
- time_remaining was not initialized correctly and could sometimes be 0
unexpectedly which causes the drone to failsafe because there's reportedly no flight time left
I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems.
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer.
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.
Low - Critical
Critical - Critical
Emergency - Emergency
