removed thresholds for closed loop setpoints and added minimum thresholds for yaw rate and speed measurements instead to avoid moving due to measurement noise
* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support
* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence
* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles
* navigator: return altitude acceptance radius from triplet if it's valid
* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
The RTL sequence from the navigator requires the vehicle to land. This is now handled for rovers by setting its state to landed if it is within the acceptance radius of the home position when in return mode.
Special handling for LAND mode: always allow to switch into it such that if used
as emergency mode it is always available. When triggering it the user generally wants
the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
I could not extract the open_drone_id helpers to a separate lib because
it would require the mavlink headers while the mavlink library would
also depend on it, so it ended up being a circular dependency.
Instead, I'm now just using the headers from within the mavlink module
as well as from the uavcan driver.
This will send the System message if it is already being sent by a ground
station. Otherwise, it will assemble the message itself using the
takeoff/home location.
This extracts the function mapping from MAV_TYPE to MAV_ODID_UA_TYPE to
the library, so that it can be re-used later by the remote ID
implementation over DroneCAN.
Signed-off-by: Julian Oes <julian@oes.ch>
Improve the slow down effect and add support for speed change in mission mode.
Seperate code related to turning setpoints into motor commands into its own folder and refactor code.
