The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller.
The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by:
The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center.
The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above.
In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles.
The orientation rotates the major axis around the NED down axis.
The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle.
A feedback mavlink message is send with the executed pattern parameters.
Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m.
Increase time to disarm for tailsitter test to pass.
Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
If at the last powercycle one mission was uploaded, the counter in dataman was 1. On the next powercycle the mavlink mission counter was reset to zero and on first mission upload updated to 1 again. Other modules check, if the mission was changed based on the counter, like the mission.cpp loaded the mission counter from the dataman. On a new mission, the comparison of the counters failed, because both were the same value even if the mission was completely different.
- Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported)
- Add the possibility for the parser to parse int argument with bitwise shift operators
The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.
Konrad