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8ea0b2d3c5
Move into functions. Reset probation time and recalculate checks if a mode change is demanded to give the operator ability to regain control as soon as possible after nav performance is regained. (+11 squashed commits) Squashed commits: [a4bb800] commander: enable pilot to quickly recover from loss of position accuracy [19e16a0] commander: rework postal probation time [f96284e] commander: rework bad pos and vel test probation time [00d5f0c] commander: Allow EKF preflight checks to pass with moving vehicle Separates the 'is using GPS' and the GPS quality checks. Uses a reasonable subset of the GPS quality checks which allows checks to pass if the vehicle is moving. [4cdfb5c] commander: remove unused variable [349385a] commander: add EKF GPS quality checks to pre-arm checking Only perform check if GPs checking is activated by parameter setting. Display fault messages that makes it clear if EKF quality checks are failing or the EKF is not using GPS for another reason. We do not want to confuse this with GPS lock. [340ae29] commander: make position invalid fail-safe more sticky Require check to pass for 7 seconds before exiting failsafe. This is required because if GPs is failing innovation tests for a prolonged period, the EKF will periodically reset to the GPS and report good accuracy at the time of reset. Adding this delay gives time for an underlying error condition (eg bad IMU or compass) to be re-detected. [b04ac95] commander: Increase RAM allocation to eliminate low stack warnings [9dca12f] commander: add missing position invalid fail-safe responses [69f264d] commander: Update position invalid fail-safe responses Replace separate logic for each case with a generic function Add velocity checks. [8e8cef1] commander: rework position validity checks Consolidate existing checks for global and local position validity and add checking of velocity accuracy. Enable checks to be bypassed using the CBRK_VELPOSERR parameter.