statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
This is to avoid race condition with the yaw emergency estimator having
the same trigger delay of 1 second. Commander will now give more time to
EKF2 to reset itself before switching to altitude mode.
With this change we prevent the case where arming silently fails within
the first 10 seconds after boot.
Also, we now set the sensors as healthy as soon as the ekf is healthy,
and don't wait 10 seconds without actually checking.
If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.
- 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
- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
- consolidate scattered arming requirements in `arm_disarm()`
- there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
- if geofence enabled require valid home before arming
- throttle requirements for manual modes
- remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
- let the preflight/prearm checks respond directly in most cases
Co-authored-by: Matthias Grob <maetugr@gmail.com>
In case of a diverge of the nav filter, both position and velocity test
ratios are large. If only one of them is too large, the nav filter is
most likely not diverging but is encountering a GNSS position reset and
it is still safe to fly in position mode.
Claudio Micheli