fd009c8be3
CPU resource check: use class member and fix param description
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-07 11:19:28 +01:00
c054bc2370
Commander: cpuResourcesCheck: add 2 seconds hysteresis to trigger failure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-07 11:19:28 +01:00
54d26e084a
Commander: windCheck: add COM_WIND_MAX_ACT param to set high wind failsafe action ( #21373 )
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Has options *None where the check is disabled, and *Warning, where only a warning is
published (which replaces the high wind warning from the COM_WIND_WARN limit).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-06 11:58:21 +01:00
2ef807eaa0
sdcardCheck: shorten hardfault log message
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To make sure it's showing correctly in the output.
2023-10-25 16:43:06 -04:00
c41de22a05
batteryCheck: add new battery threshold for arming (COM_ARM_BAT_MIN)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-10-09 07:40:48 +02:00
b7f8ee8ee7
batteryCheck: improve user notification for low battery events
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-10-09 07:40:48 +02:00
c0d9e2ac7a
commander: add warning for imminent navigation failure
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Some system are able to dead-reckon for a while after losing GPS or
other sources providing positional feedback. If the estimated position
error grows above the failsafe threshold, the system enters a failsafe
mode. As the position error estimate is growing linerly over time, and
it is recommended to take action before entering the failsafe, we here
warn the user about the imminent failsafe and propose to take manual
control.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-27 14:12:04 -04:00
99309625e8
preflt-chk: report strength and inclination failure values
2023-07-25 11:21:05 -04:00
beb5fc5eb6
ekf-checks: set min and max values for required/failsafe eph
2023-07-24 15:10:07 -04:00
88c5565a29
Commander: remove COM_ARM_ARSP_EN
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Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-07-17 10:35:02 +02:00
20d0661e87
HealthAndArmingChecks: disallow arming via parameter
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COM_ARMABLE is set to "Disabled" will prevent arming.
This allows to set the parameter when ground demoing a drone or
if it's in maintenance for safety reasons.
2023-06-22 13:17:47 +02:00
173407581b
HealthAndArmingChecks: reorder CMakeLists alphabetically
2023-06-22 13:17:47 +02:00
d2011e99b2
commander: add Open Drone ID arming check ( #21652 )
2023-06-01 07:52:52 +02:00
ca1d32a29d
HealthAndArmingChecks: Use snprintf over sprintf
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com >
2023-05-22 07:46:54 +02:00
e375e02974
Add GPS spoofing state
2023-03-14 20:28:32 -04:00
132e9d2439
modeCheck: add warning when RC enabled but not present
2023-03-08 09:32:56 +01:00
7fa8dfe2d2
rcAndDataLinkCheck: always update manual control availability
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and remove duplicate manual control check
possibly it needs to be readded to give warning
about RC enabled but not present.
2023-03-08 09:32:56 +01:00
f498b90c41
mode_requirements: add manual control for manual modes
2023-03-08 09:32:56 +01:00
daa302cdbe
Changes to allow the commander module to be built and run on Qurt ( #21186 )
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* Changed exclusion to rely on the definition of PX4_STORAGEDIR
2023-03-06 09:49:07 -05:00
2b73b6df70
commander: fixes valid mag count in HIL
2023-03-01 08:05:23 +01:00
006321e278
Commander: remove unused param COM_POS_FS_EPV
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
526e066d9a
Commander: rework GPS invalid warning to use estimator feedback instead of separate GPS quality thresholds
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 13:32:38 +01:00
d9a4d1d5c4
Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks
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Check fails if airspeed reading is above FW_AIRSPD_MAX.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 20:43:38 -05:00
32cab66c44
Commander: hide hint to param in low position accuracy event for end users
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 16:47:11 +01:00
9b3a28dff5
Commander: add local_position_accuracy_low flag, incl. warning and RTL
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Set this flag to true if local position is valid but accuracy low, such that
the operator can be warned before system switches to position-failure failsafe.
Additionally, switch to RTL if currently in Mission or Loiter to try to reach home
or fly out of GNSS-denied area.
Set low accuracy threshold to 50m by default for FW and VTOL.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 16:47:11 +01:00
6d84da5cf1
Commander: add max flight time warning (starting at 90%)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-01 08:48:09 +01:00
b1709743f7
commander: add wind or flight time limit exceeded mode requirement
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This prevents switching into any of these modes once the condition is set.
2023-02-01 08:48:09 +01:00
f25abbc80a
Fix magnetometer typo
2023-01-30 10:24:16 +01:00
bd9d09663f
commander: avoid uint64 timestamp implicit float conversions
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- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
- fixes https://github.com/PX4/PX4-Autopilot/issues/20944
2023-01-19 17:48:40 -05:00
623c1418bb
Commander: improve messaging for vtol fixed-wing system failure arming check
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
303b879748
VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-13 19:02:21 +03:00
5217bedd4b
commander: make SYS_HAS_MAG a count param and ensure system has N calibrated + enabled mags
2022-12-14 07:55:04 +01:00
640f9cc801
commander: fix initialization order of _failsafe_flags
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In this case it did not cause any problems.
Fixes a compiler warning:
/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp:39:21: error: member ‘HealthAndArmingChecks::_failsafe_flags’ is used uninitialized [-Werror=uninitialized]
39 | _reporter(_failsafe_flags)
| ^~~~~~~~~~~~~~~
2022-11-14 11:27:23 +01:00
5910f8982a
fix warning (mavlink): connection to gcs
2022-11-08 13:02:23 +01:00
6511866408
fix commander: check that offboard_control_mode data is recent
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This is a regression from https://github.com/PX4/PX4-Autopilot/pull/20172
2022-11-02 10:11:29 -04:00
0996e5319f
commander: add preflight check for hardfault files on SD card
2022-11-02 09:59:00 -04:00
c32cf21b63
commander: estimator check shorten messages
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- otherwise these are awkwardly split in mavlink
2022-10-25 08:02:47 +02:00
a7b909234b
commander: estimator nav test is not an arming check
2022-10-25 08:01:30 +02:00
309465858a
commander: elapsed time checks avoid subtracting unsigned integers
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- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
- most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
- likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
2022-10-19 20:21:36 -04:00
e211e0ca0e
commander: limit some estimator checks to prearm
2022-10-19 19:06:56 -04:00
5ca28dd6dc
Use isAllFinite() in all places that check finiteness on entire vectors or matrices
2022-10-19 19:09:20 +02:00
d542ffc10c
refactor vehicle_status_flags: rename to failsafe_flags
2022-10-13 16:05:25 -04:00
38d3739b6d
refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost
2022-10-11 22:31:20 -04:00
acaa50a448
geofence: add and report reason for violation
2022-10-11 22:31:20 -04:00
ebc88afe46
Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached.
2022-10-11 22:31:20 -04:00
693af897b3
commander: check if battery was already disconnected on arming
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If so, don't report.
Happens e.g. with USB powered pixhawk.
2022-10-11 22:31:20 -04:00
24142bc014
commander: RcCalibrationChecks: avoid param access on each cycle
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reduces cpu usage a bit
2022-10-11 22:31:20 -04:00
6fda555cba
commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks
2022-10-11 22:31:20 -04:00
e4bb219d10
vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status
2022-10-11 22:31:20 -04:00
455b885f86
commander: use new failsafe state machine and add user intention class
2022-10-11 22:31:20 -04:00
Silvan Fuhrer