Instead of directly doing the link loss reaction which by default is RTL a delay
can be configured such that the drone first switches to hold and waits
for the link to be regained.
* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
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.
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
The commander used to consume the battery_status topic and write the
contents after some calculations into the system state. Instead, the
calculations now happen in library calls in systemlib/battery.
This moves the battery fields out of the vehicle_status message into the
battery_status topic.
This brought quite some changes in all modules that need battery
information. The current state is compiling but untested.
The MAV_TYPE enum was not in sync with the mavlink specs anymore. It
makes therefore sense to remove the duplication and include the correct
mavlink header file where it is needed.
Also, error counts which are not populated, can be scrapped.
Since the circuit breaker bools are not actually used anywhere else than
in the commander, it is safe to remove them and replace them with local
bools.
RomanBapst
Daniel Agar
Matthias Grob
Daniel Leonard Robinson
Beat Küng
Claudio Micheli
Jacob Dahl
Silvan Fuhrer
Julien Lecoeur
Andrei Korigodski
Timothy Scott
bresch
TSC21
acfloria
Nicolas de Palezieux
Andreas Antener
Jonathan Challinger
Julian Oes
Jimmy Johnson
Lorenz Meier