Merge remote-tracking branch 'upstream/master' into obcfailsafe

src/modules/commander/commander.cpp

@@ -1415,8 +1415,12 @@ int commander_thread_main(int argc, char *argv[])
 				arming_state_changed = true;
 
 			} else if (arming_ret == TRANSITION_DENIED) {
-				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "arming state transition denied");
+				/*
+				 * the arming transition can be denied to a number of reasons:
+				 *  - pre-flight check failed (sensors not ok or not calibrated)
+				 *  - safety not disabled
+				 *  - system not in manual mode
+				 */
 				tune_negative(true);
 			}
 

src/modules/commander/state_machine_helper.cpp

@@ -110,8 +110,8 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 	ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
 
 	transition_result_t ret = TRANSITION_DENIED;
-
 	arming_state_t current_arming_state = status->arming_state;
+	bool feedback_provided = false;
 
 	/* only check transition if the new state is actually different from the current one */
 	if (new_arming_state == current_arming_state) {
@@ -156,13 +156,15 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 
 					// Fail transition if pre-arm check fails
 					if (prearm_ret) {
+						/* the prearm check already prints the reject reason */
+						feedback_provided = true;
 						valid_transition = false;
 
 					// Fail transition if we need safety switch press
 					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
-
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
+						feedback_provided = true;
 						valid_transition = false;
 					}
 
@@ -173,6 +175,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 						if (!status->condition_power_input_valid) {
 
 							mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
+							feedback_provided = true;
 							valid_transition = false;
 						}
 
@@ -182,6 +185,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 							(status->avionics_power_rail_voltage < 4.9f))) {
 
 							mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
+							feedback_provided = true;
 							valid_transition = false;
 						}
 					}
@@ -200,6 +204,8 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 
 		/* Sensors need to be initialized for STANDBY state */
 		if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
+			mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
+			feedback_provided = true;
 			valid_transition = false;
 		}
 
@@ -216,11 +222,14 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 	}
 
 	if (ret == TRANSITION_DENIED) {
-		static const char *errMsg = "INVAL: %s - %s";
+		const char * str = "INVAL: %s - %s";
+		/* only print to console here by default as this is too technical to be useful during operation */
+		warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
 
-		mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
-
-		warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+		/* print to MAVLink if we didn't provide any feedback yet */
+		if (!feedback_provided) {
+			mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
+		}
 	}
 
 	return ret;
@@ -648,8 +657,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
 		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
-			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
-			mavlink_log_critical(mavlink_fd, "hold still while arming");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE, hold still");
 			/* this is frickin' fatal */
 			failed = true;
 			goto system_eval;

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -40,22 +40,196 @@
 
 #include "position_estimator_inav_params.h"
 
+/**
+ * Z axis weight for barometer
+ *
+ * Weight (cutoff frequency) for barometer altitude measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
+
+/**
+ * Z axis weight for GPS
+ *
+ * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
+
+/**
+ * Z axis weight for sonar
+ *
+ * Weight (cutoff frequency) for sonar measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
+
+/**
+ * XY axis weight for GPS position
+ *
+ * Weight (cutoff frequency) for GPS position measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
+
+/**
+ * XY axis weight for GPS velocity
+ *
+ * Weight (cutoff frequency) for GPS velocity measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
+
+/**
+ * XY axis weight for optical flow
+ *
+ * Weight (cutoff frequency) for optical flow (velocity) measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
+
+/**
+ * XY axis weight for resetting velocity
+ *
+ * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
+
+/**
+ * XY axis weight factor for GPS when optical flow available
+ *
+ * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
+
+/**
+ * Accelerometer bias estimation weight
+ *
+ * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
+ *
+ * @min 0.0
+ * @max 0.1
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
+
+/**
+ * Optical flow scale factor
+ *
+ * Factor to convert raw optical flow (in pixels) to radians [rad/px].
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit rad/px
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
+
+/**
+ * Minimal acceptable optical flow quality
+ *
+ * 0 - lowest quality, 1 - best quality.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
+
+/**
+ * Weight for sonar filter
+ *
+ * Sonar filter detects spikes on sonar measurements and used to detect new surface level.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
+
+/**
+ * Sonar maximal error for new surface
+ *
+ * If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
+
+/**
+ * Land detector time
+ *
+ * Vehicle assumed landed if no altitude changes happened during this time on low throttle.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
+
+/**
+ * Land detector altitude dispersion threshold
+ *
+ * Dispersion threshold for triggering land detector.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
+
+/**
+ * Land detector throttle threshold
+ *
+ * Value should be lower than minimal hovering thrust. Half of it is good choice.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
+
+/**
+ * GPS delay
+ *
+ * GPS delay compensation
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)

src/systemcmds/pwm/pwm.c

@@ -648,6 +648,10 @@ pwm_main(int argc, char *argv[])
 				/* force failsafe */
 				ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
 			}
+
+			if (ret != OK) {
+				warnx("FAILED setting forcefail %s", argv[2]);
+			}
 		}
 		exit(0);
 	}