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Merge remote-tracking branch 'upstream/master' into abo_acro_attitude_hold

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This commit is contained in:
breadoven 2023-10-24 11:19:55 +01:00
commit c775c29256
30 changed files with 710 additions and 71 deletions
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70
src/main/navigation/navigation.c
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@ -62,6 +62,7 @@
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "programming/global_variables.h"
@ -223,6 +224,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
static navWapointHeading_t wpHeadingControl;
navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
static bool landingDetectorIsActive;
EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
@ -2660,11 +2662,15 @@ bool findNearestSafeHome(void)
*-----------------------------------------------------------*/
void updateHomePosition(void)
{
// Disarmed and have a valid position, constantly update home
// Disarmed and have a valid position, constantly update home before first arm (depending on setting)
// Update immediately after arming thereafter if reset on each arm (required to avoid home reset after emerg in flight rearm)
static bool setHome = false;
navSetWaypointFlags_t homeUpdateFlags = NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING;
if (!ARMING_FLAG(ARMED)) {
if (posControl.flags.estPosStatus >= EST_USABLE) {
const navigationHomeFlags_t validHomeFlags = NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
bool setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
switch ((nav_reset_type_e)positionEstimationConfig()->reset_home_type) {
case NAV_RESET_NEVER:
break;
@ -2675,24 +2681,16 @@ void updateHomePosition(void)
setHome = true;
break;
}
if (setHome) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
// save the current location in case it is replaced by a safehome or HOME_RESET
posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
}
}
}
else {
static bool isHomeResetAllowed = false;
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
homeUpdateFlags = 0;
homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHome = true;
isHomeResetAllowed = false;
}
}
@ -2707,6 +2705,22 @@ void updateHomePosition(void)
posControl.homeDirection = calculateBearingToDestination(tmpHomePos);
updateHomePositionCompatibility();
}
setHome &= !STATE(IN_FLIGHT_EMERG_REARM); // prevent reset following emerg in flight rearm
}
if (setHome && (!ARMING_FLAG(WAS_EVER_ARMED) || ARMING_FLAG(ARMED))) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
if (ARMING_FLAG(ARMED) && positionEstimationConfig()->reset_altitude_type == NAV_RESET_ON_EACH_ARM) {
posControl.rthState.homePosition.pos.z = 0; // force to 0 if reference altitude also reset every arm
}
// save the current location in case it is replaced by a safehome or HOME_RESET
posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
setHome = false;
}
}
@ -2952,14 +2966,15 @@ void updateLandingStatus(timeMs_t currentTimeMs)
}
lastUpdateTimeMs = currentTimeMs;
static bool landingDetectorIsActive;
DEBUG_SET(DEBUG_LANDING, 0, landingDetectorIsActive);
DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
if (!ARMING_FLAG(ARMED)) {
if (STATE(LANDING_DETECTED)) {
landingDetectorIsActive = false;
}
resetLandingDetector();
landingDetectorIsActive = false;
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
@ -2996,11 +3011,28 @@ void resetLandingDetector(void)
posControl.flags.resetLandingDetector = true;
}
void resetLandingDetectorActiveState(void)
{
landingDetectorIsActive = false;
}
bool isFlightDetected(void)
{
return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
}
bool isProbablyStillFlying(void)
{
bool inFlightSanityCheck;
if (STATE(MULTIROTOR)) {
inFlightSanityCheck = posControl.actualState.velXY > MC_LAND_CHECK_VEL_XY_MOVING || averageAbsGyroRates() > 4.0f;
} else {
inFlightSanityCheck = isGPSHeadingValid();
}
return landingDetectorIsActive && inFlightSanityCheck;
}
/*-----------------------------------------------------------
* Z-position controller
*-----------------------------------------------------------*/
@ -3917,14 +3949,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
@ -3942,7 +3974,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
canActivateWaypoint = false;
// Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = isNavLaunchEnabled();
canActivateLaunchMode = isNavLaunchEnabled() && (!sensors(SENSOR_GPS) || (sensors(SENSOR_GPS) && !isGPSHeadingValid()));
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;