- state_estimator was an unimplemented stub (empty callbacks, never
published /rov/state) - removed node, entry point, launch block
- motion_controller + mission_executor: /rov/state -> /odometry/filtered
(the working robot_localization EKF output)
- Eliminates redundant/competing state estimators; single source of truth
- Verified: EKF publishes ~11Hz, both consumers subscribed
- ekf.yaml imu0: /imu/data -> /mavros/mavros/data (the empty /imu/data
topic had no publisher; EKF produced no output)
- Verified: /odometry/filtered now publishes valid fused orientation
with real Pixhawk IMU via MAVROS
- Note: high covariance expected (single budget IMU, untuned, no position
input) - tune after Xsens/DVL added
- depth_node + failsafe_monitor: subscribe to real MAVROS topic
/mavros/mavros/rel_alt (was /mavros/global_position/rel_alt)
- failsafe_monitor: Float32 -> Float64 (resolves duplicate-type error
that dropped the topic from recordings)
- Remove mock_publisher (VM-era fake data, now collides with real MAVROS)
- Verified: /rov/depth now publishes real data; zero duplicate-type errors
- rov_full.launch.py: fcu_url to udp://@<ip>:14550 (was bad local bind); add plugin_allowlist (sys_status,sys_time,command,imu,global_position,setpoint_velocity) to stop duplicate-subscription crash on companion_process_status/debug_value
- foxglove_mcap.launch.py: timestamp bag output dir (was fixed /data/bags/dive, failed on second launch)
- failsafe_monitor/depth_node/state_estimator: qos_profile_sensor_data on MAVROS-sourced subs (MAVROS publishes BEST_EFFORT; default RELIABLE blocked all messages)
- failsafe_monitor: treat battery_percent<0 as UNKNOWN not critical (SITL has no battery; was forcing permanent EMERGENCY_SURFACE)
- New rov_simulation package (dev only — not for vehicle deployment)
- mock_publisher: synthetic MAVROS sensor data with 5 test scenarios
(nominal, low_battery, comms_loss, depth_warning, all_clear)
- dev_stack.launch.py: launches mock_publisher + failsafe_monitor + mission_executor
- Scenarios trigger specific failsafe conditions for end-to-end testing
- Full mission state machine: IDLE/RUNNING/PAUSED/COMPLETE/ABORTED
- Breadcrumb buffer: 1800 entries at 2s interval (1hr coverage)
- Failsafe integration: HOVER=pause, RETURN_TO_SAFE=abort+breadcrumb, EMERGENCY=immediate abort
- Waypoint loading from YAML mission file via LOAD command
- Arrival detection with configurable radius
- Image capture loiter with configurable delay
- Simple proportional navigation toward waypoints (Phase 3+ replaces with full planner)
- Entry point recorded at mission start for safe zone reference
- Updated FailsafeStatus.msg with assessment state, FSM state, thruster_anomaly flag
- Implemented GREEN/AMBER/RED continuous self-assessment
- Dynamic assessment rates: 5Hz/20Hz/50Hz
- Full FSM: NORMAL->HOLD_AND_RECOVER->RETURN_TO_SAFE->EMERGENCY_SURFACE
- Priority-ordered failsafe conditions (8 levels per design spec)
- Tiered battery thresholds: warning/return/critical/emergency
- Conditional comms loss response based on assessment state
- Conditional manual abort response based on assessment state
- All thresholds configurable via failsafe.yaml
