ea29b45282
ekf2: enable mag check by default, but commander only warn
2021-12-15 09:43:46 -05:00
eb69f15d3a
health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message
...
Add SYS_STATUS flag for parachute
2021-12-14 09:41:12 -05:00
986cf288da
dataman: remove obsolete persistence and reset reason
2021-12-12 12:06:35 -05:00
897775f38d
ManualControlSelector: Allow disabling stick input
2021-12-10 09:11:08 -05:00
300e439144
ManualControlSelector: Enable original PX4 default behavior until QGC catches up
2021-12-10 09:11:08 -05:00
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
a9b9362fea
commander: handle system broadcast commands
...
This changes the command handling logic to accept commands which are
targeted at any system, signaled by target_system set to 0.
2021-12-01 20:17:35 -05:00
55dfbdc6a6
Commander: fix remaining flight time user messaging
2021-11-30 19:46:22 +01:00
3a9eef658c
Commander: remove preflight check for transition switch
...
This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-11-26 11:37:40 +01:00
c5fb68b7a1
Commander: force disabling the arm stick gesture when arm switch is in use
2021-11-25 07:56:35 +01:00
c522a8b15a
Compute RTL time and react if lower than flight time
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- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
2021-11-24 14:10:24 +01:00
5489005e0b
Commander: call battery_status_check on update instead of early return
2021-11-24 14:10:24 +01:00
282d35bbf0
esc_calibration: handle SYS_CTRL_ALLOC==1
2021-11-23 12:40:22 -05:00
21699935e8
vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR
2021-11-23 12:40:22 -05:00
0153c870d2
Commander: make sure yaw airmode is not possible while arm gesture is enabled
...
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.
It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
2021-11-23 16:03:46 +01:00
577d926639
commander: improve angular velocity validity and message
2021-11-22 11:27:45 -05:00
f912ee2c8b
Commander: send out parachute MAVLink command when kill switch engaged
2021-11-19 17:15:04 +01:00
3193b554ca
Add optional preflight check for healthy MAVLink parachute system
2021-11-19 17:15:04 +01:00
43c529f294
Add MAVLink parachute system heartbeat detection
2021-11-19 17:15:04 +01:00
4c6621f6cf
Commander: Allow arming a rover with the throttle stick in the middle
2021-11-19 10:10:32 +01:00
439400f76e
commander: don't ack gimbal commands
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- this leads to an unnecessary amount of acks which can in turn overflow
the orb queue
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-13 11:59:28 -05:00
17ad7071c3
fix the quaternion normalization issue
...
Be course of the numerical computing error . The normalization of the quaternion can't always equal to 1 precisely. It could occasionally trigger the error"attitude estimate no longer valid". So enlarge the threshold to 1e-6f. That keeps it silence.
2021-11-12 16:31:40 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
7e4a079e09
Commander: report when RC selected mode is not available
2021-11-09 16:05:25 +01:00
a593a51f05
Commander: fix mode initialization with RC
2021-11-09 16:05:25 +01:00
38ab7e6ab9
Commander: separate function for action request execution
2021-11-09 16:05:25 +01:00
0a02d8e774
Commander: handle denying disarm when not landed centrally
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
dcd26bd2b8
Commander: fix "Manual control lost" showing double in QGC
...
because of the missing tab in the deprecated message.
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
...
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
2021-11-09 16:05:25 +01:00
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
2021-11-09 16:05:25 +01:00
fff2de43a5
commander_params: update description based on ManualControlSelector
2021-11-09 16:05:25 +01:00
12bb2de175
state_machine_helper: rever explicitly handling unavaialble mission
...
It was already handled by the existing condition.
2021-11-09 16:05:25 +01:00
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
2021-11-09 16:05:25 +01:00
d48302c841
Commander: send out manual control lost event
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
709c909929
commander_params: correct RC override description
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
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Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
2021-11-09 16:05:25 +01:00
f1b1068824
commander: remove unused mode/main_state methods
...
With the previous changes these seem no longer required.
2021-11-09 16:05:25 +01:00
53bd254502
commander: add valid check
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Better checking once too much than once too little.
2021-11-09 16:05:25 +01:00
93c505b163
commander: force arming is not an option from RC
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
5ae76bdc17
commander: fix potentially wrong user message
2021-11-09 16:05:25 +01:00
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
2e9edfcd89
commander: only override according to param
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This got lost in the refactor earlier.
2021-11-09 16:05:25 +01:00
97d01f200e
commander: move manual_control and switches out
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This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
2021-11-09 16:05:25 +01:00
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
2021-11-09 16:05:25 +01:00
Daniel Agar