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Commander: Introduce global_position_relaxed (#24280)

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To separate accuracy requirements for VTOL hover and cruise.

- global_position_relaxed refers to having a valid horizontal velocity aid source 
in the estimator and a set global reference position, but poses no requirements 
on the accuracy of the provided position estimate. 
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, 
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This commit is contained in:
Roman Bapst
2025-05-28 09:16:10 +03:00
committed by GitHub
parent eb72925045
commit b26dd4d3f3
25 changed files with 278 additions and 30 deletions
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msg/FailsafeFlags.msg
+3 -1
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@@ -12,6 +12,7 @@ uint32 mode_req_local_alt
uint32 mode_req_local_position
uint32 mode_req_local_position_relaxed
uint32 mode_req_global_position
uint32 mode_req_global_position_relaxed
uint32 mode_req_mission
uint32 mode_req_offboard_signal
uint32 mode_req_home_position
@@ -29,6 +30,7 @@ bool local_position_invalid # Local position estimate invalid
bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
bool local_velocity_invalid # Local velocity estimate invalid
bool global_position_invalid # Global position estimate invalid
bool global_position_invalid_relaxed # Global position estimate invalid with relaxed accuracy requirements
bool auto_mission_missing # No mission available
bool offboard_control_signal_lost # Offboard signal lost
bool home_position_invalid # No home position available
@@ -48,7 +50,7 @@ bool mission_failure # Mission failure
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
# Failure detector