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Commit Graph
1040 Commits
Author SHA1 Message Date
bresch 67e528ec0c Takeoff - allow publishing NAN longitude and latitude 
A NAN is interpreted in the FlightTaskAuto as a non-valid global coordinate and sets a local position.
If a zero is sent instead, the global coordinate is recognized as valid and will be executed.
This is a problem when the global position is gained for the first time after takeoff and that a valid global reference did not exist before
 2019-09-19 14:03:58 +02:00
Daniel Agar 78ef8aab2d STACK_MAIN increase default 1024 -> 2048 2019-08-30 19:11:51 -07:00
Silvan Fuhrer 8a8cc3b52b Navigator: VTOL: set heading of transition of a VTOL_TAKEOFF to the VTOL_TAKEOFF waypoint (and enforce heading) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Silvan Fuhrer b1d38ee050 Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Silvan Fuhrer ab28f1e4f7 Navigator: VTOL: disable weather vane during yaw aligning before front transition 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Daniel Agar e69398c09f introduce uORB::PublicationQueued and transition most orb_advertise_queue usage 2019-08-04 10:08:09 -04:00
Timothy Scott 2ed00c9cb6 Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239) 2019-07-11 09:39:13 -04:00
RomanBapst 7c8fa82e76 rtl cone angle: expose a few values to the user 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst 81ee40eac8 rtl: implemented RTL based on cone shape 
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
Nicolas de Palezieux 2f1cfa60f4 precland: store result of _target_pose_sub.update() for later use 
- Fixes #12391
 2019-07-04 11:02:14 -04:00
Daniel Agar 4b778fd0c2 navigator: fix vehicle_status update (#12364) 2019-06-28 21:35:29 -04:00
Timothy Scott 21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Timothy Scott 2ca40bfc65 Changed navigator to properly separate xy and z distance to waypoint 2019-06-13 10:04:26 +02:00
Daniel Agar 79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Daniel Agar 933dd1357e navigator move print_usage() to bottom of file 2019-06-08 03:23:50 -07:00
Daniel Agar e4ad994763 navigator move to new uORB::Subscription 2019-06-05 20:28:44 -04:00
Daniel Agar 2c63e335e9 uORB::Subscription subscribe directly to uORB device node object 2019-06-03 17:06:21 -04:00
bresch 903deb7579 RTL - Skip descend state if no delay is set between descend and land 2019-04-25 18:24:04 +02:00
Julian Oes c95394f57f navigator: fix uninitalized param values 
By declaring the params above the navigator modes inheriting from
mission block we make sure the params in navigator are set before
read in the constructor of mission block.
 2019-04-24 11:15:43 -04:00
bresch f3990c84fc Parameter update - Rename variables in modules/navigator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
Daniel Agar 6dec451bab HEARTBEAT and commander failsafe handling cleanup 2019-03-12 11:24:33 +01:00
Daniel Agar 1221556515 RTL fix RTL_TYPE param metadata group 2019-03-05 07:49:45 +01:00
Daniel Agar 468fb53459 navigator fix FW loiter to alt tangent exit (#11576) 
- fixes #11317
 2019-03-03 22:22:32 -05:00
TSC21 12d29fd093 navigator: mission_feasibility_checker: remove lazy comparison 2019-02-27 13:25:47 +01:00
TSC21 c9c86ae2ff navigator: mission feasibility checker: minor cleanup 2019-02-27 13:25:47 +01:00
TSC21 9fa7f341e4 mission_feasibility_checker: takeoff: fix init of mission item 2019-02-27 13:25:47 +01:00
TSC21 8bf9ec32dc mission_feasibility_checker: takeoff: add a different log message when there's a takeoff item but it's not the first waypoint 2019-02-27 13:25:47 +01:00
TSC21 468a002355 mission_feasibility_checker: takeoff: minor spelling mistakes fixing 2019-02-27 13:25:47 +01:00
TSC21 f6ab40d2dd mission_feasibility_checker: takeoff: fix logic to return as valid 2019-02-27 13:25:47 +01:00
TSC21 676e1eb224 mission_feasibility_checker: takeoff: accept mission when takeoff is not the first item but the previous items are not waypoints 2019-02-27 13:25:47 +01:00
TSC21 6bb84af1db mission_feasibility_checker: takeoff: change warning message 2019-02-27 13:25:47 +01:00
TSC21 5b151a5df7 navigator: mission feasibility checker: check for a takeoff waypoint on mission on specific conditions 2019-02-27 13:25:47 +01:00
Alessandro Simovic d5aad58c92 navigator: reset vehicle_roi on mission update 2019-02-25 09:11:24 -05:00
Alessandro Simovic cb9d483cb8 navigator: removed "using" C++ directive 
There is only one occurence of the namespace specified,
so it's more readable to simply specify the full namespace in this case.
 2019-02-21 09:20:06 -05:00
Alessandro Simovic 168f1a5d51 navigator: offboard_mission -> mission 2019-02-21 09:20:06 -05:00
Todd Colten 4c21163c78 re-word landing required msg for understandability 
changed: "Mission rejected: land start required."
to: "Mission rejected: landing pattern required."

This new message is more clear to the average user.  When using RTL_TYPE = 1, mission feasibility checker adds the requirement of a landing sequence beginning with a MAV_CMD_DO_LAND_START and ending with a MAV_CMD_NAV_LAND with at least 1 other waypoint prior to the land waypoint.  The warning message "Mission rejected: land start required." is a common warning to trigger whenever the mission is blank or the mission is uploaded without a landing pattern.  The wording in this message confusing to the average user as they usually do not know the inner workings of the "landing pattern" that their planning software helps them make (e.g. Qgroundcontrol).  The only users who would know what a "Do_Land_Start" mission item is are advanced users already and this new message should work equally well for them as well as the non-advanced user.
 2019-02-18 09:38:59 -05:00
Daniel Agar 8185334994 navigation.h handle mission item structure padding explicitly 
- also applies to mission_stats_entry_s, mission_fence_point_s,
   mission_save_point_s
 - -Wpadded warning is disabled by default because the snapdragon
   toolchain doesn't respect the pragma pop
 2019-02-13 08:08:01 +01:00
Daniel Agar 537318cbb5 navigator delete unused mission_yaw_mode 2019-02-06 18:59:11 -05:00
Daniel Agar 83e76ece1c navigator mission block fix get_time_inside() and cleanup helpers 2019-02-06 18:59:11 -05:00
Daniel Agar 3665bc59b8 navigator initialize all mission items safely 2019-02-06 18:59:11 -05:00
Daniel Agar 26185f7c07 navigator orb subscribe/unsubscribe in constructor/destructor 2019-02-06 18:59:11 -05:00
Daniel Agar 1a4d31140e create example vehicle type build configs for fmu-v2 and fmu-v5 (#10963) 
- update navigator precision landing to build without multicopter
 2019-02-05 19:53:54 -05:00
Alessandro Simovic 5bcd7c0a0d Capitalizing/improving warning messages 2019-01-25 11:58:17 -05:00
Alessandro Simovic 0bb5345306 removed unnecessary new-lines 2019-01-25 11:58:17 -05:00
Alessandro Simovic 0c129274af Fixing a few headers 2019-01-25 11:58:17 -05:00
Matthias Grob be108a33f8 mission_params: remove MIS_YAWMODE reference 
This parameter was removed in d704a2d675 and should
not be referenced anymore.
 2019-01-23 22:08:32 +01:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Simone Guscetti 163d201c28 remove the landing gear from the attitude setpoint 
- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
 2018-12-10 16:17:23 +01:00