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Commit Graph

338 Commits

Author SHA1 Message Date
Mathieu Bresciani
dab66e92d3 Fix typo 2019-08-15 14:31:23 +02:00
Dennis Mannhart
bf25c462b2 Orbit failsafe: switch internal_state to Posctrl such that Manual-Positionctrl is activated after failsafe recovery. This is needed because Orbit can only be invoked via vehicle_command msg. 2019-08-15 14:31:23 +02:00
Claudio Micheli
187a025dfe Commander: added esc_status prearm checks 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-08-09 09:41:17 +02:00
Andrei Korigodski
5133453822 vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN 
Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
 2019-08-05 05:55:33 -07:00
alessandro
2deab6c607 commander: refactored state-machine strings 
- Follow-up changes to https://github.com/PX4/Firmware/pull/11796
 2019-06-17 20:09:05 +02:00
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
Claudio Micheli
f4a4dab65a Commander: Improved logic for OA prearm checks. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli
107746ded5 Added obstacle avoidance healthiness topic in vehicle status msg. 
This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running.
Added a print once flag to prevent excessive message spamming in QGC.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-27 09:56:32 +01:00
Claudio Micheli
13f3ee4c82 state_machine_helper: (Critical) Prevent datalink failsafe triggering if not enabled. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2019-03-12 11:24:33 +01:00
Daniel Agar
6dec451bab HEARTBEAT and commander failsafe handling cleanup 2019-03-12 11:24:33 +01:00
Matthias Grob
e979d24fff commander: fix orbit failsafes for data link & rc loss 2018-12-08 22:34:57 +01:00
Matthias Grob
34fb52d8bd commander: add orbit state handling 2018-12-08 22:34:57 +01:00
Daniel Agar
48d9484ceb commander fix and enforce code style 2018-11-28 20:42:03 -05:00
CarlOlsson
db4d79358a commander: fix typo 2018-10-22 09:26:06 -04:00
Julian Oes
d370a7c2b5 commander: remove unused HITL transition function 
To my knowledge this hil transition function is not used anymore,
however, it makes sending the DO_SET_MODE command unnecessarily complex.
In my opinion the DO_SET_MODE command should only change the mode but
not other things like arming (already removed) and HITL state (this
commit).

Often times, I was seeing the error message "Set SYS_HITL to 1 and
reboot to enable HITL." when using QGC with a vehicle in HITL.

HITL is set via parameter which then has an impact in the startup script
where the CLI argument `-hil` is added to some of the commands that
require it (like commander as well).
 2018-08-30 09:16:02 +02:00
Daniel Agar
29082d0118 commander battery_failsafe state machine share strings 2018-08-21 02:38:51 -04:00
Daniel Agar
6396e486bd commander cleanup battery failsafe handling 2018-08-21 02:38:51 -04:00
Beat Küng
8c3cf0167c commander arming_state_transition: respect fRunPreArmChecks properly 
if fRunPreArmChecks was set to false, there were still cases where the
preflight checks could be called. This fixes that.

arming_state_transition() with fRunPreArmChecks=false is only called
when entering & leaving preflight calibration mode.
All other places use fRunPreArmChecks=true, which means there is no change
for these.
 2018-06-27 10:41:21 +02:00
Daniel Agar
daa6f29b58 commander ignore failsafe transitions when in mission and disarmed 2018-06-13 08:37:00 +02:00
Daniel Agar
64fb4b43b6 commander preflightCheck don't report failures during calibration 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
f2104217d4 commander arm_auth check last 2018-04-16 20:43:33 -04:00
Daniel Agar
a2bc0bd947 commander prearm_check limit simultaneous error 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
a4703c6be4 commander arming state transition consolidate HIL special checks and remove atomic 2018-04-16 20:43:33 -04:00
Daniel Agar
54ea78898c commander arming state transition delete useless errors 2018-04-16 20:43:33 -04:00
Daniel Agar
1400652724 commander arming state machine pass checks by default 
- this is needed for the unit tests
 2018-04-16 20:43:33 -04:00
Daniel Agar
f81a1aedcd commander state machine add global position check 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
415c5f13bb commander move power check to prearm_check 2018-04-16 20:43:33 -04:00
Daniel Agar
c679703da4 commander move arm authorization to prearm_check 2018-04-16 20:43:33 -04:00
Daniel Agar
082126610d commander status flags delete condition_system_prearm_error_reported 
- this flag often results in hiding useful information, or adding
   useless information to the mavlink console
 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
Daniel Agar
35bf37d617 commander state machine helper shorten names 2018-04-16 20:43:33 -04:00
Daniel Agar
0f6a94894d commander state machine helper fix code style 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
4ccfc280c8 commander arming_state_transition add HIL boolean 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
e29b568d33 state machine helper remove unused headers 2018-03-29 10:25:56 -04:00
Daniel Agar
bff2136db0 commander state machine helper use constexpr for strings 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
Daniel Agar
376b5e4747 state machine helper make vehicle_status_flags const 2018-03-29 10:25:56 -04:00
Daniel Agar
8c8fe17ff3 commander delete unused main_state_prev 2018-03-29 10:25:56 -04:00
Daniel Agar
c194c1acb5 commander use const where possible 
- this helps tease apart the various pieces of commander.
 2018-03-29 10:25:56 -04:00
Daniel Agar
458db2e508 vehicle_global_position remove redundant evh and evv 
- vehicle_status_flags condition_global_velocity_valid is also unnecessary
 2018-03-05 13:20:28 -05:00
Daniel Agar
4e45d7959c commander remove gps receiver checks 2018-02-19 15:28:47 +01:00
Daniel Agar
8b0ba3c34c commander log full status flags 2018-01-28 19:28:32 +01:00