The ArmingCheckReply uORB queue was sized to 4 (ORB_QUEUE_LENGTH) while
ExternalChecks supports up to MAX_NUM_REGISTRATIONS (8) external modes,
each of which publishes a reply for every ArmingCheckRequest. With more
than 4 registered modes the replies from the 5th+ mode overwrote earlier
ones within a single request cycle, so those modes were flagged
"unresponsive" and silently failed to activate.
Increase ORB_QUEUE_LENGTH to 8 to match MAX_NUM_REGISTRATIONS, and add a
static_assert so the two limits cannot drift apart again.
Fixes#27271
Signed-off-by: Marko T <marko.tavcar@c-astral.com>
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>
