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Merge remote-tracking branch 'upstream/master' into linux

Browse Source 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	src/modules/commander/gyro_calibration.cpp
	src/modules/mavlink/mavlink_ftp.cpp
This commit is contained in:
Mark Charlebois
2015-05-16 15:04:38 -07:00
parent 6a1c28fbc1 26954ece2c
commit 36f5d47ed9
45 changed files with 714 additions and 400 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+18 -1
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@@ -1105,7 +1105,6 @@ MulticopterPositionControl::task_main()
/* derivative of velocity error, not includes setpoint acceleration */
math::Vector<3> vel_err_d = (_sp_move_rate - _vel).emult(_params.pos_p) - (_vel - _vel_prev) / dt;
_vel_prev = _vel;
/* thrust vector in NED frame */
math::Vector<3> thrust_sp = vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int;
@@ -1288,6 +1287,11 @@ MulticopterPositionControl::task_main()
memcpy(&_att_sp.R_body[0], R.data, sizeof(_att_sp.R_body));
_att_sp.R_valid = true;
/* copy quaternion setpoint to attitude setpoint topic */
math::Quaternion q_sp;
q_sp.from_dcm(R);
memcpy(&_att_sp.q_d[0], &q_sp.data[0], sizeof(_att_sp.q_d));
/* calculate euler angles, for logging only, must not be used for control */
math::Vector<3> euler = R.to_euler();
_att_sp.roll_body = euler(0);
@@ -1303,6 +1307,11 @@ MulticopterPositionControl::task_main()
memcpy(&_att_sp.R_body[0], R.data, sizeof(_att_sp.R_body));
_att_sp.R_valid = true;
/* copy quaternion setpoint to attitude setpoint topic */
math::Quaternion q_sp;
q_sp.from_dcm(R);
memcpy(&_att_sp.q_d[0], &q_sp.data[0], sizeof(_att_sp.q_d));
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
}
@@ -1388,12 +1397,20 @@ MulticopterPositionControl::task_main()
math::Matrix<3,3> R_sp;
R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body);
memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));
/* copy quaternion setpoint to attitude setpoint topic */
math::Quaternion q_sp;
q_sp.from_dcm(R_sp);
memcpy(&_att_sp.q_d[0], &q_sp.data[0], sizeof(_att_sp.q_d));
_att_sp.timestamp = hrt_absolute_time();
}
else {
reset_yaw_sp = true;
}
/* update previous velocity for velocity controller D part */
_vel_prev = _vel;
/* publish attitude setpoint
* Do not publish if offboard is enabled but position/velocity control is disabled,
* in this case the attitude setpoint is published by the mavlink app