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Author SHA1 Message Date
Martina e7cf2c5675 remove unused trajectory_bezier message 2018-07-12 16:36:11 -04:00
Martina 5cd0da95cc mc_pos_control_params: add type boolean to MPC_OBS_AVOID parameter 2018-07-12 16:36:11 -04:00
Martina 064a6dd2fd mc_pos_control: fix rebase mistake 2018-07-12 16:36:11 -04:00
Martina d6ea735b18 make format 2018-07-12 16:36:11 -04:00
Martina 492e40a139 mc_pos_control: enable obstacle avoidance only in mission and rtl 2018-07-12 16:36:11 -04:00
Martina f42095af8f mavlink_messages: refactor to use vehicle_trajectory_waypoint instead of trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina da2df5708b mc_pos_control: refactor to use vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina 2a40d001de mavlink_receiver: refatcor to use vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina 00bc70a49c trajectory_waypoint: refactor to contain information about one of the 5 
points of the trajectory
 2018-07-12 16:36:11 -04:00
Martina c15f2e45d6 add vehicle_trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina 53a528b01b nuttx_omnibus-f4sd_default: disable bl_update, wind_estimator, gnd_att_control, gnd_pos_control to save flash 2018-07-12 16:36:11 -04:00
Martina f3a7886fbf trajectory_bezier: remove yaw_speed define 2018-07-12 16:36:11 -04:00
Martina 87cd110044 mavlink_receiver: make format 2018-07-12 16:36:11 -04:00
Martina 33b1b13432 mc_pos_control: replace define with parameter to enable/disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 6cceca6fe5 mc_pos_control_params: add parameter to enable and disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 8662c71d82 logger: enable trajectory_waypoint and trajectory_waypoint_desired logging 2018-07-12 16:36:11 -04:00
Martina c9fcc6b7d5 trajectory_waypoint: add comment to explain the use of the two topics 
trajectory_waypoint and trajectory_waypoint_desired
 2018-07-12 16:36:11 -04:00
Martina 1144b66a70 mc_pos_control: temporary solution to enable and disable the execution of 
obstacle avoidance waypoints
 2018-07-12 16:36:11 -04:00
Martina c5d62b5524 mc_pos_control: use local frame position setpoint from triplets calculated 
in the pos_control and not coming from navigator. Refactor method
update_avoidance_waypoint_desired since all waypoints have the same type
 2018-07-12 16:36:11 -04:00
Martina 26ca09f824 mc_pos_control: fix typo 2018-07-12 16:36:11 -04:00
Martina 35cf00dd5e trajectory message: change sp to wp 2018-07-12 16:36:11 -04:00
Martina 59c7fc5d96 mc_pos_control: use one method to wrap yaw speed instead of triplicate 
code
 2018-07-12 16:36:11 -04:00
Martina 8b20c66cfc mc_pos_control: use desired velocity to calculate vel_sp_along_track_prev 
if obstacle avoidance is running
 2018-07-12 16:36:11 -04:00
Martina d39b969e72 mc_pos_control: refactor the update of the desired waypoints for avoidance 
to eliminate duplicated code
 2018-07-12 16:36:11 -04:00
Martina 9bdc9aada2 mc_pos_control: use defines for point size and number of points in 
trajectory_waypoint
 2018-07-12 16:36:11 -04:00
Martina c84e651edd trajectory_waypoint: add defines for point size and number of points 2018-07-12 16:36:11 -04:00
Martina a11c6235fe mc_pos_control: uses consistent naming for desired waypoints 2018-07-12 16:36:11 -04:00
Martina 272d7ca4cd mc_pos_control: use consistent naming for position waypoints 2018-07-12 16:36:11 -04:00
Martina 3fa094cb6b mc_pos_control: use same notation for velocity waypoints 2018-07-12 16:36:11 -04:00
Martina 6e7f1d249e bezier: fix index description 2018-07-12 16:36:11 -04:00
Martina 31d675fd95 mc_pos_control: add interface to send desired position and velocity 
waypoint to the obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina b33a708215 mc_pos_control: add vel_sp_desired to send desired velocity to the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00
Martina 47f2db67b6 mc_pos_control: execute yaw or yaw speed of the obstacle avoidance 
waypoint
 2018-07-12 16:36:11 -04:00
Martina df19610e69 mc_pos_control: add execution of position waypoint coming from the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00
Martina 5d6771753d mc_pos_control: add execution of velocity waypoint coming from the 
obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina f511d3a399 mc_pos_control: add method to constrain velocity setpoint 2018-07-12 16:36:11 -04:00
Martina 14444af38c mc_pos_control: subscribe to trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina f3ce7be1e3 mavlink_messages: stream TRAJECTORY mavlink message with data from 
uORB trajectory_waypoint as input path to a obstacle avoidance node
 2018-07-12 16:36:11 -04:00
Martina 5ef26dd862 mavlink_receiver: decode mavlink message TRAJECTORY in uORB msgs 
trajectory_waypoint or trajectory_bezier depending on the mav trajectory
representation type
 2018-07-12 16:36:11 -04:00
Martina e59a29197e replace obstacle_avoidance message with trajectory_waypoint and trajectory_bezier 2018-07-12 16:36:11 -04:00
ChristophTobler 82e0547f6e add first draft of the avoidance msg 2018-07-12 16:36:11 -04:00
Beat Küng e1a7472738 MavlinkOrbSubscription::update: improve performance & fix corner case 
- reorders operations, such that the most expensive one (orb_copy) is done
  only when really needed.
- corner case: when the topic was not advertised yet, orb_stat() would fail
  and then update() was called, which succeeds for the first advertisement.
  In that case the timestamp was incorrectly set to 0 and true was
  returned.
  The next call would again return true, because the timestamp was updated,
  but the topic data was still the same.

Reduces CPU load by ~2% on a Pixracer.
 2018-07-12 21:31:38 +02:00
Beat Küng 060b130128 mavlink: add optional disable_sharing flag to add_orb_subscription 
This is a more generic solution for 532a97041, and also enables it for
vehicle_command_ack's.

In addition it avoids using a timestamp for subscription update checking,
because it does not work well together with orb queuing.
 2018-07-12 21:31:38 +02:00
Mark Sauder bb86c5f200 Breakout rc.vehicle_setup from rcS. (#9892) 2018-07-12 14:50:47 -04:00
Paul Riseborough 4d59c834eb EKF: Consolidate range finder checking 
This brings all the range finder data checks (excluding innovation consistency checks) into one place and eliminates the need to perform range checking external to the library.
The hard coded optical flow tilt limit is changed to use the same value as the range finder.
Variable names are changed to make a clear distinction between the max/min values calculated by the stuck range check and the max/min valid values for the sensor.
 2018-07-12 18:20:50 +02:00
Daniel Agar 21cc34befb GPS driver increase stack 2018-07-12 08:12:05 +02:00
mcsauder e12acc4b28 Migrate hardware specific mavlink stream cases to rc.mavlink. 2018-07-12 08:10:59 +02:00
Kabir Mohammed e1661a92c3 EKF : allow init without external vision measurements (#464) 2018-07-12 11:36:47 +10:00
Paul Riseborough a0ed08967e EKF: Add missing range validity check 2018-07-11 14:53:37 +02:00
mcsauder 8b71bb4562 Breakout rc.mavlink from rcS script. 2018-07-11 09:38:58 +02:00