statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
The implementation before this change had two timeouts, a hard-coded
timeout of 0.5 seconds as well as a by param configurable timeout with
certain failsafe actions set.
This change aims to fix two problems:
1. The hard-coded offboard timeout can be triggered easily with sped up
lockstep simulation. Since i t is hard-coded it can't be adapted to
the speed factor.
2. The offboard signal can time out but no action will be taken just
yet. This means we end up in an in-between stage where no warning or
failsafe action has happened yet, even though certain flags are set
to a timeout state.
This patch aims to fix this by unifying the two timeouts to the existing
configurable param. The convoluted double timeout logic is replaced by a
simple hysteresis.
For anyone that has previously not changed the default timeout param (0),
the param will now be changed to 0.5 seconds which reflects the
previously hardcoded time. For anyone with a specific timeout
configured, the behaviour should remain the same.
Also, going forward, timeouts lower than 0.5 seconds should be possible.
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>
Michael Schaeuble
Daniel Agar
Julian Oes
Silvan Fuhrer
Claudio Micheli
TSC21
Philipp Oettershagen
Simone Guscetti