dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
39,209 Commits 514 Branches 136 Tags 234 MiB
Commit Graph

39209 Commits

Author SHA1 Message Date
Matthias Grob e73e6a490d ManualControl: separate function for stick arming 2021-11-09 16:05:25 +01:00
Matthias Grob a349dae760 Use action_request to command RC VTOL transitions 2021-11-09 16:05:25 +01:00
Matthias Grob dcd26bd2b8 Commander: fix "Manual control lost" showing double in QGC 
because of the missing tab in the deprecated message.
 2021-11-09 16:05:25 +01:00
Matthias Grob 956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob 052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Matthias Grob af607e3040 Use separate arm_request instead of vehicle_command for RC arming 2021-11-09 16:05:25 +01:00
Matthias Grob c4473bdab7 ManualControl: clean up arm/disarm gesture 2021-11-09 16:05:25 +01:00
Matthias Grob 48ed350b25 ManualControlSelector: simplification refactoring 
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
 2021-11-09 16:05:25 +01:00
Matthias Grob cc2ec09659 ManualControl: fix arm button logic during testing 
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
 2021-11-09 16:05:25 +01:00
Matthias Grob 0901b73f50 ManualControlSelector: rename functions and validate chosen inputs all the time 2021-11-09 16:05:25 +01:00
Matthias Grob 28a29ad050 ManualControlSelector: revamp logic to switch when configuration is changed 2021-11-09 16:05:25 +01:00
Matthias Grob 05946ff0c6 mavlink_receiver: remove unused start_helper declaration 2021-11-09 16:05:25 +01:00
Matthias Grob 7a2ef4a917 Commander: don't publish RC_IN_MODE to vehicle_status 
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
 2021-11-09 16:05:25 +01:00
Matthias Grob fff2de43a5 commander_params: update description based on ManualControlSelector 2021-11-09 16:05:25 +01:00
Matthias Grob 396bab52ad ManualControlSelector: refactor selection to chose based on a single condition 2021-11-09 16:05:25 +01:00
Matthias Grob 1bd786c71a ManualControlSelector: don't invalidate existing setpoint with other invalid input 2021-11-09 16:05:25 +01:00
Matthias Grob e15f6b27f2 ManualControlSelector: copy manual_control_input struct instead of each individual field 2021-11-09 16:05:25 +01:00
Matthias Grob 63ddb050ef ManualControlSelector: refactor timeout calculation to be consistent 2021-11-09 16:05:25 +01:00
Matthias Grob 2528e8c572 ManualControl: correct calculation of dt in seconds 2021-11-09 16:05:25 +01:00
Matthias Grob 12bb2de175 state_machine_helper: rever explicitly handling unavaialble mission 
It was already handled by the existing condition.
 2021-11-09 16:05:25 +01:00
Matthias Grob 4dc165efd0 Commander: don't retry to reach the desired_main_state if we reached it 2021-11-09 16:05:25 +01:00
Matthias Grob d48302c841 Commander: send out manual control lost event 2021-11-09 16:05:25 +01:00
Matthias Grob 93bed7f670 vehicle_command: shorten arming action/origin enum names 2021-11-09 16:05:25 +01:00
Matthias Grob 709c909929 commander_params: correct RC override description 2021-11-09 16:05:25 +01:00
Julian Oes b3a5072de5 commander/manual_control: use msg enum for params 
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
 2021-11-09 16:05:25 +01:00
Julian Oes f1b1068824 commander: remove unused mode/main_state methods 
With the previous changes these seem no longer required.
 2021-11-09 16:05:25 +01:00
Julian Oes 42af44700b mc_rate_control: always allow landing gear control 
Except of course when landed and we try to put it up.
 2021-11-09 16:05:25 +01:00
Julian Oes 486a4b0118 mavlink: reduce calls to hrt_absolute_time 2021-11-09 16:05:25 +01:00
Julian Oes 454aa611ae manual_control: add missing 7 2021-11-09 16:05:25 +01:00
Julian Oes 2c0fc686a7 manual_control: don't accept outdated input 2021-11-09 16:05:25 +01:00
Julian Oes 4d00a56230 manual_control: method can be static 2021-11-09 16:05:25 +01:00
Julian Oes 6027398459 manual_control: handle invalid rc_in_mode 2021-11-09 16:05:25 +01:00
Julian Oes 50cca204d8 manual_control: add check for instance 2021-11-09 16:05:25 +01:00
Julian Oes 963d15eacc manual_control: use correct sysid/compid 2021-11-09 16:05:25 +01:00
Julian Oes cfdb53a4d8 manual_control: don't switch gear on first init 
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
 2021-11-09 16:05:25 +01:00
Julian Oes 60de330f18 manual_control: add hysteresis for arm button back 2021-11-09 16:05:25 +01:00
Julian Oes 75209a7552 manual_control: address review comments 2021-11-09 16:05:25 +01:00
Matthias Grob 942eb23248 ManualControlSelector: remove commented stick difference filter draft 2021-11-09 16:05:25 +01:00
Matthias Grob 11a46d3d27 ManualControlSelectorTest: add constantly outdated samples case 
Reviewing the code I saw this case arising from the order things
get checked.
 2021-11-09 16:05:25 +01:00
Julian Oes 39282a795f manual_control: fix tests 2021-11-09 16:05:25 +01:00
Julian Oes 53bd254502 commander: add valid check 
Better checking once too much than once too little.
 2021-11-09 16:05:25 +01:00
Julian Oes efd8757fda manual_control: handle NAN 2021-11-09 16:05:25 +01:00
Julian Oes 374c9f38a7 manual_control: use constrain() instead 2021-11-09 16:05:25 +01:00
Julian Oes 2a41ade223 manual_control: update first, get diff after 
Not sure why I had this the wrong way round.
 2021-11-09 16:05:25 +01:00
Julian Oes d0fea93d72 manual_control: add reset to diff 
This should prevent triggering user override right after RC re-appears.
 2021-11-09 16:05:25 +01:00
Julian Oes 93c505b163 commander: force arming is not an option from RC 2021-11-09 16:05:25 +01:00
Julian Oes 4a5ef1c81e ROMFS: whitespace 2021-11-09 16:05:25 +01:00
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
Julian Oes baf81abbab msg: whitespace only 2021-11-09 16:05:25 +01:00