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Add pure mode #1815

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Add pure mode #1815

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Commits on Nov 22, 2022

  1. core: add compatibility mode setter for system 

    This adds an API to set the compatibility_mode specifically to PX4,
ArduPilot, or Pure. Pure is a new mode that should be based on common
without any non-standard customizations.
    @julianoes
    julianoes committed Nov 22, 2022
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  2. action: only switch to Hold for PX4 

    In Pure mode we don't require this safety precaution.
    @julianoes
    julianoes committed Nov 22, 2022
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  3. action: update reboot and shutdown command 

    The meaning of param4 has changed in the spec, so we have to update it.
    @julianoes
    julianoes committed Nov 22, 2022
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  4. action: make param thread-safe (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  5. action: add note regarding landing altitude

    @julianoes
    julianoes committed Nov 22, 2022
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  6. action: add todo to improve API (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  7. action: mark hack for takeoff altitude 

    PX4 currently requires the takeoff altitude as a parameter instead of
the command param. This hopefully changes in the future.

This commit changes the implementation slightly and also makes sure that
the hack only exists for PX4 but not for ArduPilot or Pure mode.
    @julianoes
    julianoes committed Nov 22, 2022
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  8. action: auto change mode for REPOSITION 

    According to the spec we could switch mode automatically when sending
the DO_REPOSITION command. Therefore, for ArduPilot and Pure mode, we
should actually use this.

For PX4, we need to leave the hack which switches to Hold first, at
least for the time being.
    @julianoes
    julianoes committed Nov 22, 2022
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  9. action: only attempt ORBIT against PX4 

    This excludes ORBIT from ArduPilot and Pure mode for now as it is
still marked WIP. We need to decide if that's the right way to go
forward, or if it should still be possible to use it in these
compatibilitylmodes.
    @julianoes
    julianoes committed Nov 22, 2022
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  10. action: always use callback queue (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  11. calibration: return unsupported if not using PX4 

    This is because ArduPilot would not work, and because it is not specced
for Pure mode.
    @julianoes
    julianoes committed Nov 22, 2022
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  12. calibration: clang-tidy and other fixes (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  13. failure: only set param for PX4

    @julianoes
    julianoes committed Nov 22, 2022
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  14. follow_me: use existing ms method (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  15. follow_me: clang-tidy suggestions (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  16. info: remove unused include (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  17. mission_raw: disable mission_changed in pure mode

    @julianoes
    julianoes committed Nov 22, 2022
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  18. offboard: use existing MAVLink masks (drive-by)

    @julianoes
    julianoes committed Nov 22, 2022
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  19. telemetry: only use param fallback for PX4

    @julianoes
    julianoes committed Nov 22, 2022
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Commits on Nov 24, 2022

  1. Fixes after rebase 

    Signed-off-by: Julian Oes <[email protected]>
    @julianoes
    julianoes committed Nov 24, 2022
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