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manual control selection and cleanup #17404

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merged 90 commits into from
Nov 9, 2021
Merged

manual control selection and cleanup #17404

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025de50
[WIP] manual_control selector hacks
dagar Apr 7, 2021
67dd62c
ROMFS: start manual_control for SITL
julianoes Apr 8, 2021
c0fd9a4
manual_control: add selector class [WIP]
julianoes Apr 8, 2021
2aa6243
rc_update: rename update method
julianoes Apr 13, 2021
427f3a3
rc_update: use snake_case for namespace name
julianoes Apr 13, 2021
9b3e51b
manual_control: add instance to selector
julianoes Apr 14, 2021
74fe748
manual_control: implement (dis)arming via command
julianoes Apr 15, 2021
8ef0b2f
manual_control: move override detection
julianoes Apr 15, 2021
7b88a45
commander: check for valid flag for manual_control
julianoes Apr 15, 2021
e0a89bb
manual_control: starting to implement switches
julianoes Apr 15, 2021
0abe7fa
Fix style
julianoes Apr 15, 2021
46ffdc4
commander: move switch handling to manual_control
julianoes Apr 16, 2021
2cd54e5
mavlink: remove unused methods
julianoes Apr 21, 2021
34964e0
commander: move main_state_transition out
julianoes May 6, 2021
e1f2798
commander: only move to POSCTL when armed
julianoes May 6, 2021
0d3c786
manual_control: send initial mode in the beginning
julianoes May 6, 2021
33deed7
commander: move valid mission check inside
julianoes May 6, 2021
bc9c4d9
commander: always reset posvel validity
julianoes May 6, 2021
4d27a00
commander: add desired main state
julianoes May 6, 2021
2b6513f
commander: move manual_control and switches out
julianoes May 11, 2021
6f891ce
manual_control: use filter to check user override
julianoes May 18, 2021
a0a1316
commander: only override according to param
julianoes May 18, 2021
762dee4
manual_control: ORBIT and PRECLAND not supported
julianoes May 18, 2021
b9a27ea
manual_control: support arming button
julianoes May 18, 2021
bebdb46
commander: fix potentially wrong user message
julianoes May 18, 2021
b072a41
manual_control: remove leftover debug statements
julianoes May 19, 2021
18f315f
msg: whitespace only
julianoes Jun 9, 2021
d74edad
msg: re-use manual_control_input in setpoint
julianoes Jun 10, 2021
eb02420
ROMFS: whitespace
julianoes Jun 10, 2021
d0fb4f0
commander: force arming is not an option from RC
julianoes Jun 10, 2021
0758872
manual_control: add reset to diff
julianoes Jun 10, 2021
6c1d5fc
manual_control: update first, get diff after
julianoes Jun 10, 2021
1f992d9
manual_control: use constrain() instead
julianoes Jun 10, 2021
00c1079
manual_control: handle NAN
julianoes Jun 10, 2021
5c23655
commander: add valid check
julianoes Jun 10, 2021
79fb31d
manual_control: fix tests
julianoes Jun 14, 2021
d61f989
ManualControlSelectorTest: add constantly outdated samples case
MaEtUgR Jun 15, 2021
9c74b2c
ManualControlSelector: remove commented stick difference filter draft
MaEtUgR Jun 15, 2021
55e54e5
manual_control: address review comments
julianoes Jun 16, 2021
5ce7ef2
manual_control: add hysteresis for arm button back
julianoes Jun 16, 2021
9470132
manual_control: don't switch gear on first init
julianoes Jun 16, 2021
068ec5b
manual_control: use correct sysid/compid
julianoes Jun 16, 2021
ee1bca5
manual_control: add check for instance
julianoes Jun 16, 2021
3fa0a39
manual_control: handle invalid rc_in_mode
julianoes Jun 16, 2021
175b124
manual_control: method can be static
julianoes Jun 16, 2021
879c6d2
manual_control: don't accept outdated input
julianoes Jun 16, 2021
0661e01
manual_control: add missing 7
julianoes Jun 16, 2021
49115bb
mavlink: reduce calls to hrt_absolute_time
julianoes Jun 16, 2021
f72c8a7
mc_rate_control: always allow landing gear control
julianoes Jun 17, 2021
dfa51a5
commander: remove unused mode/main_state methods
julianoes Jun 17, 2021
e138b9d
commander/manual_control: use msg enum for params
julianoes Jun 17, 2021
414cdef
commander_params: correct RC override description
MaEtUgR Oct 6, 2021
455a200
vehicle_command: shorten arming action/origin enum names
MaEtUgR Oct 6, 2021
493888c
Commander: send out manual control lost event
MaEtUgR Oct 6, 2021
9cfc29f
Commander: don't retry to reach the desired_main_state if we reached it
MaEtUgR Oct 6, 2021
87d2fa2
state_machine_helper: rever explicitly handling unavaialble mission
MaEtUgR Oct 6, 2021
6158e02
ManualControl: correct calculation of dt in seconds
MaEtUgR Oct 6, 2021
0c999d1
ManualControlSelector: refactor timeout calculation to be consistent
MaEtUgR Oct 6, 2021
381ef7f
ManualControlSelector: copy manual_control_input struct instead of ea…
MaEtUgR Oct 6, 2021
0bc7586
ManualControlSelector: don't invalidate existing setpoint with other …
MaEtUgR Oct 6, 2021
843480b
ManualControlSelector: refactor selection to chose based on a single …
MaEtUgR Oct 6, 2021
8eb181b
commander_params: update description based on ManualControlSelector
MaEtUgR Oct 6, 2021
d28fd54
Commander: don't publish RC_IN_MODE to vehicle_status
MaEtUgR Oct 7, 2021
82ce058
mavlink_receiver: remove unused start_helper declaration
MaEtUgR Oct 7, 2021
3bf0ce8
ManualControlSelector: revamp logic to switch when configuration is c…
MaEtUgR Oct 7, 2021
5b5e4fb
ManualControlSelector: rename functions and validate chosen inputs al…
MaEtUgR Oct 13, 2021
47e1ae3
ManualControl: fix arm button logic during testing
MaEtUgR Oct 13, 2021
694e389
ManualControlSelector: simplification refactoring
MaEtUgR Oct 13, 2021
9a6a49c
ManualControl: clean up arm/disarm gesture
MaEtUgR Oct 13, 2021
a3e38e4
Use separate arm_request instead of vehicle_command for RC arming
MaEtUgR Oct 18, 2021
c2dfd06
Use arm_request for manual killing
MaEtUgR Oct 19, 2021
ba7a745
Use mode_request for RC mode switching
MaEtUgR Oct 19, 2021
f81b5cb
Replace arm_request and mode_request with combined action_request
MaEtUgR Oct 19, 2021
8f144d9
Commander: fix "Manual control lost" showing double in QGC
MaEtUgR Oct 19, 2021
8f3d2cf
Use action_request to command RC VTOL transitions
MaEtUgR Oct 19, 2021
9bd18d9
ManualControl: separate function for stick arming
MaEtUgR Oct 20, 2021
292c5ab
ManualControl: remove unused variables and renaming
MaEtUgR Oct 22, 2021
c3439ec
Commander: handle denying disarm when not landed centrally
MaEtUgR Oct 22, 2021
f980603
Fix landing gear processing
MaEtUgR Oct 22, 2021
4510675
Commander: separate function for action request execution
MaEtUgR Oct 27, 2021
53dfe0e
ManualControl: Simplify check if switches updated
MaEtUgR Oct 29, 2021
ec1f1f7
ManualControl: avoid scheduling based on unchosen input
MaEtUgR Oct 29, 2021
fe27469
MulticopterRateControl: Add event for landing gear retraction when la…
MaEtUgR Oct 29, 2021
545be15
ManualControl: correct source for RC mode switches without mode slot
MaEtUgR Nov 1, 2021
bb6a608
Commander: fix mode initialization with RC
MaEtUgR Nov 1, 2021
9293c03
Commander: report when RC selected mode is not available
MaEtUgR Nov 1, 2021
0f82b49
ManualControl: fix RC override
MaEtUgR Nov 2, 2021
effc78c
Use backwards compatible manual_control_setpoint instead of manual_co…
MaEtUgR Nov 3, 2021
39ec0d0
ManualControlSelector: correct parameter for any source according to …
MaEtUgR Nov 3, 2021
f6421f5
boards/kakutef7: remove dmesg to save flash
MaEtUgR Nov 8, 2021
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,7 @@ load_mon start
battery_simulator start
tone_alarm start
rc_update start
manual_control start
sensors start
commander start
navigator start
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,7 @@ else
# start before commander
#
rc_update start
manual_control start

#
# Sensors System (start before Commander so Preflight checks are properly run).
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1 change: 1 addition & 0 deletions boards/airmind/mindpx-v2/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/atl/mantis-edu/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/av/x-v1/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/beaglebone/blue/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/bitcraze/crazyflie/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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1 change: 1 addition & 0 deletions boards/bitcraze/crazyflie21/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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1 change: 1 addition & 0 deletions boards/cuav/nora/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/cuav/x7pro/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/cubepilot/cubeorange/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/cubepilot/cubeyellow/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/emlid/navio2/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/holybro/durandal-v1/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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3 changes: 2 additions & 1 deletion boards/holybro/kakutef7/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
Expand All @@ -36,7 +37,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DMESG=n
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_PARAM=y
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2 changes: 0 additions & 2 deletions boards/holybro/kakutef7/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -134,8 +134,6 @@
GPIO_RSSI_IN, \
}

#define BOARD_ENABLE_CONSOLE_BUFFER

#define BOARD_NUM_IO_TIMERS 4

__BEGIN_DECLS
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1 change: 1 addition & 0 deletions boards/holybro/pix32v5/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/modalai/fc-v1/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/modalai/fc-v2/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/ctrl-zero-f7-oem/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/ctrl-zero-f7/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/ctrl-zero-h7-oem/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
Expand Down
1 change: 1 addition & 0 deletions boards/mro/ctrl-zero-h7/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/pixracerpro/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/x21-777/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/mro/x21/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
Expand Down
1 change: 1 addition & 0 deletions boards/nxp/fmuk66-e/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
Expand Down
1 change: 1 addition & 0 deletions boards/nxp/fmuk66-v3/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
Expand Down
1 change: 1 addition & 0 deletions boards/nxp/fmurt1062-v1/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/omnibus/f4sd/default.px4board
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Expand Up @@ -28,6 +28,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v2/default.px4board
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Expand Up @@ -31,6 +31,7 @@ CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v3/default.px4board
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Expand Up @@ -62,6 +62,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4/default.px4board
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Expand Up @@ -62,6 +62,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v4pro/default.px4board
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Expand Up @@ -60,6 +60,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5/default.px4board
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Expand Up @@ -65,6 +65,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v5x/default.px4board
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Expand Up @@ -67,6 +67,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v6u/default.px4board
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Expand Up @@ -59,6 +59,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v6x/default.px4board
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Expand Up @@ -56,6 +56,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/raspberrypi/default.px4board
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Expand Up @@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/px4/sitl/default.px4board
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Expand Up @@ -27,6 +27,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/scumaker/pilotpi/default.px4board
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Expand Up @@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/spracing/h7extreme/default.px4board
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Expand Up @@ -28,6 +28,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions boards/uvify/core/default.px4board
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Expand Up @@ -46,6 +46,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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1 change: 1 addition & 0 deletions msg/CMakeLists.txt
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Expand Up @@ -37,6 +37,7 @@ cmake_policy(SET CMP0057 NEW)
include(px4_list_make_absolute)

set(msg_files
action_request.msg
actuator_armed.msg
actuator_controls.msg
actuator_controls_status.msg
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19 changes: 19 additions & 0 deletions msg/action_request.msg
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@@ -0,0 +1,19 @@
uint64 timestamp # time since system start (microseconds)

uint8 action # what action is requested
uint8 ACTION_DISARM = 0
uint8 ACTION_ARM = 1
uint8 ACTION_TOGGLE_ARMING = 2
uint8 ACTION_UNKILL = 3
uint8 ACTION_KILL = 4
uint8 ACTION_SWITCH_MODE = 5
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7

uint8 source # how the request was triggered
uint8 SOURCE_RC_STICK_GESTURE = 0
uint8 SOURCE_RC_SWITCH = 1
uint8 SOURCE_RC_BUTTON = 2
uint8 SOURCE_RC_MODE_SLOT = 3

uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
2 changes: 1 addition & 1 deletion msg/commander_state.msg
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Expand Up @@ -18,6 +18,6 @@ uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15

uint8 main_state # main state machine
uint8 main_state

uint16 main_state_changes
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