d48302c841
Commander: send out manual control lost event
3 years ago
93bed7f670
vehicle_command: shorten arming action/origin enum names
3 years ago
709c909929
commander_params: correct RC override description
3 years ago
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.
3 years ago
f1b1068824
commander: remove unused mode/main_state methods
...
With the previous changes these seem no longer required.
3 years ago
42af44700b
mc_rate_control: always allow landing gear control
...
Except of course when landed and we try to put it up.
3 years ago
486a4b0118
mavlink: reduce calls to hrt_absolute_time
3 years ago
454aa611ae
manual_control: add missing 7
3 years ago
2c0fc686a7
manual_control: don't accept outdated input
3 years ago
4d00a56230
manual_control: method can be static
3 years ago
6027398459
manual_control: handle invalid rc_in_mode
3 years ago
50cca204d8
manual_control: add check for instance
3 years ago
963d15eacc
manual_control: use correct sysid/compid
3 years ago
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.
3 years ago
60de330f18
manual_control: add hysteresis for arm button back
3 years ago
75209a7552
manual_control: address review comments
3 years ago
942eb23248
ManualControlSelector: remove commented stick difference filter draft
3 years ago
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
...
Reviewing the code I saw this case arising from the order things
get checked.
3 years ago
39282a795f
manual_control: fix tests
3 years ago
53bd254502
commander: add valid check
...
Better checking once too much than once too little.
3 years ago
efd8757fda
manual_control: handle NAN
3 years ago
374c9f38a7
manual_control: use constrain() instead
3 years ago
2a41ade223
manual_control: update first, get diff after
...
Not sure why I had this the wrong way round.
3 years ago
d0fea93d72
manual_control: add reset to diff
...
This should prevent triggering user override right after RC re-appears.
3 years ago
93c505b163
commander: force arming is not an option from RC
3 years ago
4a5ef1c81e
ROMFS: whitespace
3 years ago
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
3 years ago
baf81abbab
msg: whitespace only
3 years ago
14cfad74bf
manual_control: remove leftover debug statements
3 years ago
5ae76bdc17
commander: fix potentially wrong user message
3 years ago
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
3 years ago
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
...
ORBIT and PRECLAND are not actually possible on the flight mode switch.
3 years ago
2e9edfcd89
commander: only override according to param
...
This got lost in the refactor earlier.
3 years ago
56b2b81600
manual_control: use filter to check user override
...
Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
3 years ago
97d01f200e
commander: move manual_control and switches out
...
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
3 years ago
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
3 years ago
b6af068f25
commander: always reset posvel validity
...
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
3 years ago
52563264e6
commander: move valid mission check inside
...
I think it makes more sense to move this check inside of
main_state_transition.
3 years ago
916ffef04c
manual_control: send initial mode in the beginning
...
In order for commander to know the desired mode we need to send the
initial position of the mode slot.
3 years ago
a91fa7f3c1
commander: only move to POSCTL when armed
...
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
3 years ago
66b069e788
commander: move main_state_transition out
...
This is a first step to having a desired main state.
3 years ago
e2e908d0fc
mavlink: remove unused methods
3 years ago
97aa06cc19
commander: move switch handling to manual_control
3 years ago
08e58a44e9
Fix style
3 years ago
71d6aa913d
manual_control: starting to implement switches
3 years ago
ac121c676a
commander: check for valid flag for manual_control
3 years ago
cda6524421
manual_control: move override detection
...
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
3 years ago
1c15cc11d8
manual_control: implement (dis)arming via command
3 years ago
8876af9150
manual_control: add instance to selector
...
This instance is then used to schedule the callback for the
subscription.
3 years ago
14eb656a59
rc_update: use snake_case for namespace name
3 years ago
Matthias Grob
Julian Oes