fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 20:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
29,019 Commits 852 Branches 161 Tags
f402f68fb19b96152486ef95e1fa2b5cbc91b39d
Commit Graph
1812 Commits
Author SHA1 Message Date
Daniel Agar fc7c8b4b89 vehicle_status delete engine_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar 17e17d79dd commander delete unused vtol_transition_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar d0fba8bf8b commander delete unused data_link_lost_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar c0be801b5c commander delete unused rc_signal_lost_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar 5a6cde41d5 commander delete unused gps_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar ca804a2308 commander delete unused sensors check 2017-12-27 02:41:10 +08:00
Daniel Agar 294fbc46a9 commander initial class structure 2017-12-27 02:41:10 +08:00
Daniel Agar 5d6edcc15d commander consolidate periodic state publishing 2017-12-22 10:42:14 -05:00
Daniel Agar 043ad3c33e commander vehicle_status_flags only publish if changed 2017-12-22 10:42:14 -05:00
Paul Riseborough 176738c688 commander: add missing px4_close (#8513) 2017-12-22 08:57:06 +11:00
sanderux a8c26265b5 Check manual home set when setting during arming 2017-12-20 10:19:07 +01:00
Daniel Agar 375ae991bc commander DO_SET_HOME populate local coordinates 
- unify commander home update
 2017-12-20 10:19:07 +01:00
sanderux cf7ad67678 Check home reset in local frame 2017-12-20 10:19:07 +01:00
sanderux 4e175d13c4 Set manual_home when home set manually 2017-12-20 10:19:07 +01:00
sanderux 74868f8c2b Reset home position when landed and disarmed 2017-12-20 10:19:07 +01:00
Daniel Agar a4be7ae7d0 commander mission_result check time and instance 2017-12-20 17:05:25 +08:00
Paul Riseborough 64a06d8523 commander: Fix pre-flight delta velocity bias check level (#8446) 
Previous check level was less than the max achievable by the estimator using current default parameters making the check ineffective.
 2017-12-12 11:41:42 +11:00
Paul Riseborough 8d89e5e40b commander: rework centralise home position publication 
This fixes a bug preventing use of auto and RTL when taking off with GPS.
 2017-12-07 08:20:16 +00:00
Paul Riseborough 41f3e1f9b4 commander: centralise home position publication 2017-12-07 08:20:16 +00:00
Paul Riseborough 934a7af579 commander: Set home alt to EKF origin if global navigation commences in-flight 
The EKF origin height is calculated to be where the vehicle was at takeoff and is suitable as a surrogate home altitude.
 2017-12-07 08:20:16 +00:00
Paul Riseborough fa5010109e commander: Reset nav test when vehicle is disarmed 
Previously, the only way to clear a failed nav test was to reboot. This hindered testing.
 2017-12-04 09:09:54 +00:00
Paul Riseborough d783bc8ae1 commander: Check for nav divergence due to bad yaw at takeoff 
This check is performed for up to 30 seconds after takeoff or until  a horizontal speed of 5 m/s has been achieved.
If the vehicle is not landed and the check is active, then the yaw will be declared as failed if the velocity innovations fail for a continuous period of 1 second.
This will cause the local and global position and velocity validity to be latched false to prevent unsafe use of position control modes.
 2017-12-04 09:09:54 +00:00
Paul Riseborough afe857dfe6 commander: rework preflight GPS checks 
Fix the bug allowing arming without GPS checks passed in the first 20 seconds after gaining GPS lock when COM_ARM_WO_GPS is set to 0
Allow 10 seconds after boot for EKF quality checks to pass before reporting failure to allow EKF to stabilise.
Move GPS quality checking and reporting to after all innovation and bias checks.
Make messages more informative.
Add missing GPS speed accuracy check.
 2017-12-04 09:09:54 +00:00
Paul Riseborough c09eecbab1 commander: prevent ekf checking being bypassed if GPS checking is disabled 2017-12-04 09:09:54 +00:00
Paul Riseborough ddfe077f7c commander: strengthen pre-flight fail checking 
The commander checks use instantaneous values which are vulnerable to false negatives  or positives with noisy data or transient faults.

This patch checks the estimators published pre flight check status which is based on persistent checks using filtered data.
 2017-12-04 09:09:54 +00:00
Lorenz Meier 1b7d3883a4 Commander: Obey override / manual reversion mode from external override device 
This change will force commander into manual reversion mode when an external override device (like PX4IO) overrides the system externally. This is not a functional change on the outputs, as they were in override mode even without this patch. However, this change ensures that the system state is consistent with the output state and also ensures that the pilot and operator has better situational awareness when he / she triggers the manual reversion without realizing it.
 2017-12-02 11:39:52 +00:00
Lorenz Meier 4abc578932 Commander: State machine helper documentation 
Future contributors need to know about the time constraints that the execution of this function needs to satisfy.
 2017-12-02 11:39:52 +00:00
Nicolas de Palezieux a6ae1fbcaa vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically (#8377) 2017-11-27 15:43:39 -05:00
Robbie Sharma ab51a41793 Removed [cal] references from calibration_log_critical() routines. 2017-11-24 08:12:37 +01:00
Beat Küng 9c8dc3941d commander: fix 'commander arm' not working in HIL mode 
This got introduced with 61b0a81bf9. Due to the removed startup_in_hil flag,
this check does not work anymore, so remove it completely.
 2017-10-30 20:53:58 +01:00
Daniel Agar 8b7de092a2 sensors delete unused CAL_BOARD_ID 2017-10-29 16:24:31 +01:00
Beat Küng a2fd9ef2d0 PreflightCheck: use correct type for params (int -> int32_t) 2017-10-27 10:43:15 +02:00
Beat Küng dbb0414e01 commander: remove unused SYS_AUTOSTART param 2017-10-27 10:43:15 +02:00
Beat Küng 8cbd772489 commander: fix wrong parameter types (these are defined as float, not int) 2017-10-27 10:43:15 +02:00
Beat Küng d74f792784 commander: fix type passed to param_get() 2017-10-27 10:43:15 +02:00
Beat Küng 530fdb0b61 arm_auth: make type passed to param_get() explicit 2017-10-27 10:43:15 +02:00
Beat Küng 861f5a3d11 mag_calibration: fix type passed to param_get() 2017-10-27 10:43:15 +02:00
Beat Küng 85e82dca0d commander: add COM_FLIGHT_UUID param, increased upon disarm 2017-10-17 09:56:01 +02:00
Beat Küng fa8453443f fix commander: remove arming_state_changed, check for was_armed != armed.armed instead 
arming_state_changed was not set in all places where an arming transition
occurred, for example when calling arm_disarm() from auto-disarm.

We did not notice because the state is published with at least 5 Hz already.
 2017-10-17 09:56:01 +02:00
Sugnan Prabhu 81809be7cd Add include guard in headers files (#8108) 
Signed-off-by: Sugnan Prabhu S <sugnan.prabhu.s@intel.com>
 2017-10-11 09:47:52 -04:00
Paul Riseborough 2a4336b6ef commander: EKF2 GPS requirement 20 sec after 3D lock 2017-10-06 16:22:53 -07:00
Daniel Agar 2495f8942b preflightcheck EKF2 GPS requirement after 20s 2017-10-06 16:22:53 -07:00
Daniel Agar 9a9923c517 commander simplify sensors PreflightCheck 2017-10-06 16:22:53 -07:00
Daniel Agar 263b7ea009 commander battery failsafe only error if TRANSITION_DENIED 2017-10-06 20:11:59 +02:00
Daniel Agar 80dd87536e navigator fix vehicle_command_ack (don't copy external) 2017-10-06 20:11:19 +02:00
Paul Riseborough 0def4ace5f commander: check magnetometers for inconsistency preflight 2017-10-05 09:30:26 -07:00
Beat Küng 2dd34d639d commander: ignore internal commands during calibration 
if vmount was enabled in mavlink mode, it was continuously sending mavlink
commmands, which lead to 'command denied during calibration: 205' messages
during calibration.
 2017-10-03 07:50:27 +02:00
Daniel Agar 3c18be387c ROI - move handling to navigator (#7939) 2017-09-26 12:25:02 -04:00
James Goppert 13e64d00a8 commander handle shutdown command (#8000) 2017-09-23 10:35:36 -04:00
Henry Zhang 4778c79201 commander: removed CONFIG_ARCH_BOARD_xxx usage 2017-09-20 18:40:55 -10:00