Matthias Grob
018581faca
FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly
2018-04-05 07:30:12 +02:00
Matthias Grob
4d05193ad7
FlightTasks: switched to a block hierarchy with parameter names like TSK_ORB_RADIUS in mind
2018-04-05 07:30:12 +02:00
Matthias Grob
9437326b01
FlightTaskOrbit: altered initialisation and limiting of parameters for demonstration
2018-04-05 07:30:12 +02:00
Matthias Grob
01383a0eeb
FlightTaskManual: Basic manual position controlled flight with position and altitude hold works
2018-04-05 07:30:12 +02:00
Matthias Grob
f2250c1952
FlightTasks: made a FlightTask inherit from SuperBlock to have Block::Subscription s
...
FlightTask Manual: subscription made setpoint conversion according to vehicle attitude work
2018-04-05 07:30:12 +02:00
Matthias Grob
a8a2b4b6f3
FlightTasks: switched output position setpoint to be pointer based
...
changed "NULL"-pointers to "nullptr" for better compliance
2018-04-05 07:30:12 +02:00
Matthias Grob
28f4d18062
FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight
...
it's a draft and only works for velocity setpoints oriented in NED frame yet
# Conflicts:
# src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
2018-04-05 07:30:12 +02:00
Matthias Grob
a9d0990bb8
FlightTasks: added a temporary hardware switch for task switch testing
2018-04-05 07:30:12 +02:00
Matthias Grob
73f633dfd2
FlightTasks: added possibility to set velocity setpoint, switched Orbit to feedback velocity algorithm
2018-04-05 07:30:12 +02:00
Matthias Grob
e51e5f3e01
FlightTaskOrbit: added constraints for parameters & defined linear velocity instead of angular
2018-04-05 07:30:12 +02:00
Matthias Grob
88bf40e3cb
FlightTasks: added simple task switching with possibility do disable FlightTasks completely
2018-04-05 07:30:12 +02:00
Matthias Grob
37cb8c1a59
FlightTasks: added access to prepared velocity state for every task
2018-04-05 07:30:12 +02:00
Matthias Grob
8da1d3b16e
FlightTasks: give every FlightTask access to prepared stick input and position state
2018-04-05 07:30:12 +02:00
Matthias Grob
225f99af16
FlightTasks: created an array for all tasks and a method to set the general input pointers for all of them
2018-04-05 07:30:12 +02:00
Matthias Grob
32a1ff733d
FlightTasks: switch input from pointers in parameters passed on every run to private pointers of the base class with safety getter and setter
2018-04-05 07:30:12 +02:00
Matthias Grob
f3357aeca4
FlightTasks: make the orbit example actually orbit
2018-04-05 07:30:12 +02:00
Matthias Grob
b52f541492
FlightTasks: added timer in base class that counts from activation on including possibility to reset in subclass
2018-04-05 07:30:12 +02:00
Matthias Grob
c21c36dd8d
FlightTasks: added wrappers for filling setpoint vectors, made time dependent example
2018-04-05 07:30:12 +02:00
Matthias Grob
93ae260f44
FlightTasks: introduce new library to handle advanced features like orbit follow me and so on
...
it's only a draft setup yet and not functional for real use
the object is for now managed by the mc_pos_control module
but it stays as encapsulated as possible to enable the instance to reside in any trajectory module in the future
2018-04-05 07:30:12 +02:00
Matthias Grob