the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
* Migrate variable initialization from constructor list to declarations, standardize whitespace formatting, and alphabetize/organize order of methods and variables in srf02.cpp.
* Increase stack allocation size for the srf02 driver main.
The linear mapping from position error to cruise velocity is changed by
a combination of that linear mapping and a nonlinear function containing
the maximum acceleration and jerk to avoid overshoots at waypoints due to
overoptimistic breaking distance.
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Move cm8jl65 class member variable initialization from constructor list to declarations. Format whitespace and move method doxy comments to declarations.
* Refactor the cm8jl65 driver start() method, and rename info()->status().
* Continued refactoring of the cm8jl65 driver class:
- Condense all class files into a single *.cpp file and give class scope resolution to previously unscoped methods.
- Refactor cm8jl65 namespace level driver entry methods to reduce code and improve clarity.
- Breakout CDev specific initialization LOC into the device_init() method.
- Move the endian modification inside of the crc16_calc() method.
* Deprecate the hardware ringbuffer, _class_instance, and ioctl() from the cm8jl65 driver.
* Migrate remaining member variable intialization to declarations and employ uniform initialization style. Copy/paste help() and main() methods to the bottom of the file to match convention with other distance sensor drivers.
* Refactor the LeddarOne driver class to give scope resultion to the methods that were global and to standardize the implementation against most of the other distance sensor drivers.
* Deprecate _reports member var, use of hardware ring buffer, and LeddarOne::read() method.
* Deprecate commented (dead) code from the LeddarOne class init() method.
* Refactor the LeddarOne class cycle() and collect() methods and create measure() method to untangle the previous logic implementation.
- airframes that are not well trimmed rely on the integrator to learn
the offset. This change can help improve altitude hold during transitions
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- VT_MOT_COUNT assumed that motors were always the first outputs. This
does not have to be true always. VT_MOT_ID allows to specify precisely how
many motors we have for hovering and to which channel they are connected.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Migrate mb12xx driver class member variable initialization to declarations.
Format whitespace and alphabetize/group/order var declarations.
Refactor driver reset() and mb12xx_main() methods for readability.
Deprecate usage of IOCTL.
* Deprecate the _reports ringbuffer, _class_instance, and read() method and minor formatting in the mb12xx driver.
* Add time_literal usage and #define MB12XX_BUS_SPEED.
* Refactor the mb12xx driver to mirror the mappy_dot driver implementation and create functionality for multiple sensors.
* Add stack size for the mb12xx driver.
bresch