00e09524f7
SearchMin and BezierQuad: replace define with static constexpr ( #10050 )
2018-07-30 12:28:27 -04:00
658237f36a
px4fmu move RC input to new rc_input driver
2018-07-30 10:32:56 -04:00
56a7c63789
version lib fix BUILD_URI properly
2018-07-30 09:30:23 +02:00
cc96e5ec5e
sensor messages remove unused fields and improve comments
2018-07-29 21:04:21 +02:00
fc8a05f636
estimataor reset counter: set Flighttaskcounter equal reset-counter during activation ( #10035 )
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- fixes #10033
2018-07-28 10:08:58 -04:00
1fb5353a60
rc: add unit test for CRSF RC
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Also cleanup other RC unit tests
2018-07-28 15:23:09 +02:00
6e24bbbaaf
fmu: add CRSF RC and Telemetry support
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- Telemetry is only enabled on omnibus, since on Pixhawk it seems we cannot
write to the RC UART due to how the board is wired
- For the Telemetry the UART needs to be opened RW
2018-07-28 15:23:09 +02:00
04dbd40723
rc lib: add CRSF Crossfire protocol (RC and Telemetry)
2018-07-28 15:23:09 +02:00
74e4619042
rc lib: cleanup, move structs out of common_rc.h
2018-07-28 15:23:09 +02:00
382f989c9d
ecl submodule: fix commit hash
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The current commit hash points to a deleted branch.
2018-07-26 13:47:51 +02:00
77f0883cb9
ekf2: Reinstate saving of mag declination for use next start
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This capability was removed unintentionally by previous changes.
Requires ecl version with updated declination accessor function
2018-07-26 08:32:09 +02:00
9c0a6eb87a
clang modernize: remove void argument
2018-07-25 08:50:10 +02:00
609d412217
BezierQuad: use template type Tp for default
2018-07-25 08:50:10 +02:00
7559610a7b
BezierQuad: update description, replace Data with Vector3_t
2018-07-25 08:50:10 +02:00
6ddf214bbd
BezierQuad: set cached_arc_length once computed
2018-07-25 08:50:10 +02:00
c8842665da
mathlib: add golden section search
2018-07-25 08:50:10 +02:00
90f95bca0e
add Bezier library
2018-07-25 08:50:10 +02:00
9aa6dad514
FlightTask orbit: make format
2018-07-24 15:03:53 +02:00
e8d2f1c2be
FlightTaskOrbit: execute MAVLink orbit command
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Latest QGC daily supports sending an orbit command. This commit applies
the correct radius, rotation direction, velocity and center position.
Still missing is a check to have global position available and applying
x,y coordinates and altitude independently.
2018-07-24 15:03:53 +02:00
7c068e47ab
FlightTaskOrbit: fix acceleration limit inverting velocity
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The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
2018-07-24 15:03:53 +02:00
12290c27e6
FlightTask: update global reference
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For the geo.h C library to convert between global and local frame
we need an up to date global reference which is currently inside the
vehicle_local_position message.
2018-07-24 15:03:53 +02:00
7d4fcccf83
FlightTasks: fix switch case style
2018-07-24 15:03:53 +02:00
e95d795b08
FlightTasks: use member function as check for constistency
2018-07-24 15:03:53 +02:00
6472b579dc
FlightTaskOrbit: switch rotation direction
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Switch to positive tangential velocity being clockwise because with NED
frame z-axis points down and mathematically positive around the z-axis
results in clockwise yaw rotation when seen from above. Also MAVLink
messages and other components in PX4 are defined this way.
2018-07-24 15:03:53 +02:00
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
675b6bbabc
mathlib: fix comment typo
2018-07-24 15:03:53 +02:00
3b7d31de75
FlightTasks: reintroduce vehicle command handling
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The handling for vehicle commands inside the FlightTasks library
was already there but commented out because the previously used
MAVLink messages were tied to the specific application we used and
there was no clean common message definition. Because there is now
a well defined message for the orbit task I'm uncommenting and using
the working message handling again here.
2018-07-24 15:03:53 +02:00
93bab20510
FlightTaskOrbit: switch to FlightTaskAltitudeSmooth
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Nice smooth altitude control is already provided by the existing
flight task for altitude mode. We inherit from it to resuse the
functionality and just all its update first not altering the setpoints
for the z-axis it produced.
2018-07-24 15:03:53 +02:00
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
2b6926fe9d
FlightTaskOrbit: speed up stick input to a fixed time frame
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Maximum velocity achievable in 4 seconds,
maximum radius achievable in 8 seconds for futher testing.
These should be parameters as soon as it works fine.
2018-07-24 15:03:53 +02:00
33ba041120
FlightTaskOrbit: improve yaw tracking with feed-forward
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To make the vehicle front always point exactly to the center and not
lag behind.
2018-07-24 15:03:53 +02:00
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
993d76c0da
FlightTaskOrbit: fix vehicle yawing to the center
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I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
2018-07-24 15:03:53 +02:00
99e58e2923
FlightTask StraightLine: make format
2018-07-24 08:40:05 +02:00
7e547e6322
FlightTask StraightLine: use 2D Vector and remove newline
2018-07-24 08:40:05 +02:00
ccd8a47015
FlightTask StraightLine: set origin and target at the same time
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This avoids issues with reseting/calculating the max vel/acc
2018-07-24 08:40:05 +02:00
9e8c3ff0dc
FlightTask StraightLine: check if target and origin are the same
2018-07-24 08:40:05 +02:00
8998714130
FlightTask StraightLine: remove unused target reached flag
2018-07-24 08:40:05 +02:00
090db6a115
FlightTask StraightLine: set max vel/acc/dec if value is bigger
2018-07-24 08:40:05 +02:00
c619009364
FlightTask StraightLine: replace powf(x,2) with x*x
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Apparently this is faster
2018-07-24 08:40:05 +02:00
8b3716c0df
FlightTask StraightLine: remove 10% safety margin
2018-07-23 12:54:39 +02:00
7e0976f0ef
FlightTaskStraightLine: fix braking distance corner cases
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check if target vel is bigger than desired vel
accelerate if already inside braking distance but vel is lower
2018-07-23 12:54:39 +02:00
e527a51de6
FlightTaskStraightLine: add descriptions for defines
2018-07-23 12:54:39 +02:00
37d4f714b2
FlightTaskStraightLine: replace define with parameter
2018-07-23 12:54:39 +02:00
ebceac5fff
FlightTasks: add lib for setpoints on a straight line
2018-07-23 12:54:39 +02:00
b1d3bb0403
stop ignoring Wmissing-field-initializers and fix ( #9912 )
2018-07-22 12:45:52 -04:00
73a7aa75a8
FlightTasks: update terrain hold transition logic.
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Use pre-existing MPC_HOLD_MAX_XY parameter for speed threshold.
Use _stick_expo variable for stick movement check.
Update documentation.
2018-07-22 17:42:31 +10:00
2baa6caacb
FlightTasks: Fix transition between use of local and ground height (+2 squashed commits)
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Squashed commits:
[ed2a243] FlightTasks: Preserve control loop tuning when applying max altitude limit
[b33b947] FlightTasks: Add terrain hold function
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
2018-07-22 17:42:31 +10:00
Dennis Mannhart