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11021 Commits

Author SHA1 Message Date
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
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
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
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
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
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
Thomas Stastny
8a7919bcb6 fw att+pos ctrl: use enum for flaps configs 2018-07-11 08:08:13 +02:00
Thomas Stastny
0c3399433d fw att+pos ctrl: add takeoff flaps setting 2018-07-11 08:08:13 +02:00
Daniel Agar
850b1ad6a7 EKF2 split output predictor and publish attitude immediately (#9832) 
* EKF2 split output predictor and publish attitude immediately

* ecl: incorporate magic number tidy up
 2018-07-09 08:11:24 +10:00
Oleg Kalachev
532a970410 mavlink: fix transmitting vehicle commands 2018-07-05 22:38:02 +02:00
Daniel Agar
9fa882119d fw_pos_ctrl_l1 remove unnecessary orb rate limits 2018-07-05 12:16:44 -04:00
alessandro
51ee9eaaf4 typo 2018-07-05 14:17:55 +02:00
Alessandro Simovic
11933ac239 rc_loss_alarm: removed unused var 2018-07-05 14:17:55 +02:00
Alessandro Simovic
155089c800 Addressed review comments from #9769 2018-07-05 14:17:55 +02:00
Alessandro Simovic
df257c6555 Added parameters for enabling/disabling specific event tasks 2018-07-05 14:17:55 +02:00
Alessandro Simovic
1982957bef Added/moved namespaces in events module 2018-07-05 14:17:55 +02:00
Alessandro Simovic
c684275018 moved rc_loss_alarm into the event module 2018-07-05 14:17:55 +02:00
Alessandro Simovic
9a4b26cd32 rc_loss_alarm: addressing review comments (#9769) 2018-07-05 14:17:55 +02:00
Alessandro Simovic
701d87912e rc_loss_alarm: replaced hard with soft tabs 2018-07-05 14:17:55 +02:00
Alessandro Simovic
6fa80d2034 rc_loss_alarm: require RC be seen at least once 2018-07-05 14:17:55 +02:00
Alessandro Simovic
96a0594078 rc_loss_alarm: formatting 2018-07-05 14:17:55 +02:00
Alessandro Simovic
0f2c710237 rc_loss_alarm: hiding all but default constructor 2018-07-05 14:17:55 +02:00
Alessandro Simovic
d2b9197587 rc_loss_alarm: sorting function definitions 2018-07-05 14:17:55 +02:00
Alessandro Simovic
c8ff5f09d4 rc_loss_alarm: Added some custom commands 2018-07-05 14:17:55 +02:00
Alessandro Simovic
c0db004294 rc_loss_alarm: Added basic functionality 2018-07-05 14:17:55 +02:00
Daniel Agar
278e4cef84 uORB fix ORB_COMMUNICATOR defined sections 
- keep portions of internal add/remove helpers
 2018-07-05 07:03:27 +00:00
Roman
9d1fa8cee2 esc_calibration: adjust timeout when waiting for user to connect battery 
to 20 seconds

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman
5d87eed41c esc_calibration: use hrt_elapsed_time instead of manually calculating the diff 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman
73577df994 esc_calibration: use batter status connected flag instead of checking voltage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman
beb8c3e152 esc_calibration: use predefined literals 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00
Roman
8b629454de esc_calibration: increase safety and initialise all data 
- do not do calibration if not very sure that battery is not connected
- initialise all structs and variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-07-03 07:05:38 +00:00