266ea377da
move takeoff state machine flight_mode_manager -> mc_pos_control
2021-03-03 18:53:56 +01:00
14bf9cf753
mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness
2021-02-24 17:27:31 +01:00
ac8f4e3c48
mc_pos_control: only update constraints if topic updated
...
- update failsafe constraints
2021-01-19 14:44:42 +01:00
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
fafbb687d8
FlightModeManager: fix integral reset on ground
...
This information could also be used for yaw and integral
resets of the lower level controllers.
2020-12-30 10:25:08 -05:00
7de288877a
MulticoperPositionControl: 3rd pass get rid of zombie members
2020-12-30 10:25:08 -05:00
8edb06e94f
FlightModeManager: make sure emergency failsafe works
2020-12-30 10:25:08 -05:00
8329208b84
FlightModeManager: fix takeoff ramp from zero
2020-12-30 10:25:08 -05:00
88c274b3cd
MulticopterPositionControl: 2nd pass to move to FlightModeManager
2020-12-30 10:25:08 -05:00
f52bad87e2
mc_pos_control: separate out flight_tasks (into FlightModeManager)
2020-12-30 10:25:08 -05:00
ef6209ba03
new manual_control_switches msg (split out of manual_control_setpoint) ( #16270 )
...
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2020-12-11 12:11:35 -05:00
de66616341
MulticopterPositionControl: don't switch out of Orbit task
...
when it got started via vehicle_command
2020-12-01 10:00:46 -05:00
8f40558f41
MulticopterPositionControl: reset task when switching mode
...
to make sure the state is clean between auto mode switches.
2020-12-01 10:00:46 -05:00
ff801fbc08
FlightTasks: remove FlightTaskManualPositionSmooth
...
alias first smooth position control version from 2017.
RIP it served well.
2020-11-11 21:16:18 +01:00
e6338d8a2f
MulticopterPositionControl: default cases with unsupported POS_MODE
2020-11-11 21:16:18 +01:00
0b8f092d2b
Add acceleration stick mapping for position mode
2020-11-11 21:16:18 +01:00
6285e06fe2
mc_pos_control: split out header and name consistently
2020-10-23 15:06:04 -04:00
Daniel Agar