* Mavlink: subscribe to airspeed_validated instead of airspeed topic
This e.g. changes the way QGC displays the airspeed in case of an
airspeed failure (0 instead of the last valid airspeed). It will
always display the airspeed that's used currently in the control
modules.
* FW land detector: move to subscribe to airspeed_validated instead of airspeed topic
- the land detector checks further if the airspeed is NAN, in which case
it sets the airspeed to 0 (min groundspeed, vz and accel checks still
have to pass.
* Fixed-wing land detector use airspeed_vaidated: addressed review comments
- replaced ternary by conditional
- set airspeed to 0 if airspeed_validated stops publishing
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
- flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
- flag is set before front transition to align with wp, and unset after alignment is over
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- make sure to kill all px4 instances and gazebo client when exiting
- add arguments to specify number of vehicles and vehicle model
- exit for now if vehicle model is not iris, since needs changes in
sitl_gazebo submodule
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This still captures all commits, but does not cover the merged state of the PR. All PRs need to be up-to-date before merging/rebasing, which is better practice anyway.
In general, if anything goes wrong in the startup script, we
should fail entirely because things might not work as expected.
In particular, this prevents that we have to press Ctrl+C twice if the
simulator start call is hung waiting for the simulator to appear and
start communicating. We now press Ctrl+C once and exit straightaway
whereas before we would press it once to get the warning:
"Startup script returned with return value: 2",
and then finally exit on the second press.
Unfortunately this commit contains two things:
1. Some cleanup and renaiming.
2. An additional wait until lockstep has been initialized.
By waiting until HIL_SENSOR messages arrive including timestamps we
stop the startup script and prevent other modules from running until
time is set up. This should resolve some busy waiting by various
modules and prevent races on initialization (e.g. the landing state
being subscribed by mavlink before being published by the land
detector).
Daniel Agar
modaltb
Mathieu Bresciani
Silvan Fuhrer
Timothy Scott
Lorenz Meier
Matthias Grob
JaeyoungLim
RomanBapst
Julian Oes