Daniel Agar
387bc81f26
move systemlib/circuit_breaker.cpp to standalone lib
2018-06-12 09:06:30 +02:00
Daniel Agar
3399ec9e73
move systemlib/rc_check to commander (the only usage) and convert to c++
2018-06-11 22:53:38 +02:00
Paul Riseborough
9fb674929c
commander: do not check global position when using flow in POSCTL
2018-06-09 13:38:04 +02:00
Paul Riseborough
98597dcffc
commander: allow position uncertainty to grow when operator can correct for drift
2018-06-09 13:38:04 +02:00
Philipp Oettershagen
302cb0a285
Subsystem_info status flags & checks: Moved the set_health_flags helper functions out of the /lib/ folder and into the module/commander folder because they are actually only needed there
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
e4d863b95f
Subsystem_info status flags & checks: Separate the functionality to a) set the health flags inside commander and b) to publish them from external modules
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
075009be2f
Subsystem_info status flags & checks: 1) Set health flags in commander directly instead of publishing via uORB 2) move publish_subsystem_info into lib/ folder"
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
f5847a4a7b
Subsystem_info status flags & checks: Switch back to uORB for inter-process communication, handle GPS checks completely inside ekf2, add distance_sensor checks
2018-06-06 18:54:24 +02:00
Philipp Oettershagen
6f1f414b49
Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.
2018-06-06 18:54:24 +02:00
Alessandro Simovic
15a44a059d
addressing review comments from #9563
2018-06-02 08:36:35 +02:00
Alessandro Simovic
52c290e234
commander: moved emergency shutdown to end of cycle
2018-06-02 08:36:35 +02:00
acfloria
57162ff08d
Improve high latency switching and acknowledge
...
- Move publishing the telemetry status from the IridiumSBD driver to the mavlink instance
- In the commander use the iridiumsbd_status message for heartbeat in case of a high latency link
- Move positive acknowledge to the mavlink instance
- Add a failed acknowledge in the commander if no high latency link exists
2018-05-27 12:11:35 -04:00
acfloria
12f6affdfa
Commander: Avoid sending ack for VEHICLE_CMD_CONTROL_HIGH_LATENCY if from_external is false
2018-05-27 12:11:35 -04:00
Daniel Agar
ea3acb7121
cmake remove circular linking and reorganize
...
- px4_add_module now requires MAIN
- px4_add_library doesn't automatically link
2018-04-29 21:48:54 -04:00
Daniel Agar
fbbe1f5288
commander use new time literals
2018-04-24 00:02:48 -04:00
Daniel Agar
89ad46dd15
commander delete unused DIFFPRESS_TIMEOUT
2018-04-24 00:02:48 -04:00
Daniel Agar
cd69a573b5
commander restore MC nav failure latch
2018-04-24 00:02:48 -04:00
Daniel Agar
fc26fd99bd
commander move remaining position failsafe params to class and cleanup
2018-04-24 00:02:48 -04:00
Daniel Agar
fa9f400dbd
commander update super block parameters
2018-04-24 00:02:48 -04:00
Daniel Agar
b70e7433dc
commander add parameters for eph, epv, evh requirements
2018-04-24 00:02:48 -04:00
Daniel Agar
7bc3a12efe
commander move telemetry checks to new preflightcheck helper
2018-04-16 20:43:33 -04:00
Daniel Agar
2271b3f127
commander preflight checks pass status and status_flags messages
2018-04-16 20:43:33 -04:00
Daniel Agar
55596fad20
commander move safety check to prearm
2018-04-16 20:43:33 -04:00
Daniel Agar
729c98d9e2
commander move avionics rail voltage check out of state machine
...
- add preflight_check helper
2018-04-16 20:43:33 -04:00
Daniel Agar
8931f1a75c
commander set status_flags.usb_connected directly and delete static
2018-04-16 20:43:33 -04:00
Daniel Agar
8f543d300d
commander COMPONENT_ARM_DISARM remove useless arm error
2018-04-16 20:43:33 -04:00
Daniel Agar
bb13b602e2
commander arming_state_transition cleanup preflight and prearm calls
...
- only call prearm if preflight passes
- prearm always provide feedback
2018-04-16 20:43:33 -04:00
Daniel Agar
208e320975
commander prearm_check is always prearm
2018-04-16 20:43:33 -04:00
Daniel Agar
e5d9c826d8
commander state machine fix preflight and prearm error
...
- fixes #9155
2018-04-16 20:43:33 -04:00
Simone Guscetti
8a7dc1b320
commander: Remove usb_ connected flag on battery warnings
...
Battery warning gets only fired if a battery is inserted.
2018-04-16 14:33:43 -04:00
Oleg Kalachev
1b1617b5a0
Add new mode AUTO_PRECLAND
2018-04-11 14:50:07 -04:00
Beat Küng
f02ef20a23
commander: set timestamp for vehicle_command publication
2018-04-11 15:19:47 +02:00
acfloria
ae807fc189
Move VEHICLE_CMD_CONTROL_HIGH_LATENCY ack to commander
2018-04-11 15:15:28 +02:00
acfloria
219980cec1
Commander: Combine telemetry variables into struct
2018-04-11 15:15:28 +02:00
acfloria
b95d65df53
Commander: Fix bug when changing to high latency telemetry
...
Due to the old heartbeat of the high latency telemetry when activating it after flying sufficiently long in normal telemetry it is first detected as lost until the first message is sent.
By updating the heartbeat to the current time on switching this issue is avoided.
Also includes a small style fix for the HIGH_LATENCY2 stream
2018-04-11 15:15:28 +02:00
acfloria
1124a397f2
Commander: Move telemetry logic to separate functions
2018-04-11 15:15:28 +02:00
acfloria
443a4016af
Commander: Improve handling and generating of VEHICLE_CMD_CONTROL_HIGH_LATENCY
2018-04-11 15:15:28 +02:00
acfloria
17a157b9da
Adopt high latency switching to new MAV_CMD design
2018-04-11 15:15:28 +02:00
acfloria
a026575e37
commander: Fix for qurt and improve high latency switch logic
2018-04-11 15:15:28 +02:00
acfloria
1cc84ad8c9
Remove magic numbers from commander.cpp and style fixes
2018-04-11 15:15:28 +02:00
acfloria
1223a9abd5
Commander: High latency telem fallback only in non-manual mode
2018-04-11 15:15:28 +02:00
acfloria
634697946a
Add switch logic for high latency telemetry in commander
...
Switch to the high latency telemetry, if available, if every low latency link is lost. Switch back if any low latency link is regained. Only indicate that all links are lost if all high and low latency links are lost. Allow different timeouts for high and low latency links.
2018-04-11 15:15:28 +02:00
Beat Küng
f1f72c70e0
commander: immediately publish kill switch state change
2018-04-06 11:29:49 +02:00
dw.xiong
381c2b52ac
commander: Remove the ekf pre-flight check variables that are not used in commander. ( #9226 )
2018-04-02 10:52:32 -04:00
Daniel Agar
f0528d28fb
commander once armed safety should only request ARMING_STATE_STANDBY
2018-03-29 10:25:56 -04:00
Daniel Agar
95ff860f4e
commander cleanup includes and sort
2018-03-29 10:25:56 -04:00
Daniel Agar
db7e8635a2
commander state machine helper pass battery and safety as const references
2018-03-29 10:25:56 -04:00
Daniel Agar
c547866029
Commander::handle_command() remove unused safety parameter
2018-03-29 10:25:56 -04:00
Daniel Agar
e395b3578f
delete unused ARMING_STATE_ARMED_ERROR state
2018-03-29 10:25:56 -04:00
Daniel Agar
f59b7c7399
commander is_safe() use const references
2018-03-29 10:25:56 -04:00
