Daniel Agar
045f6233d4
FlightTasks: switch to uORB::Subscription
...
- delete SubscriptionArray
- all FlightTasks are now responsible for updating their own subscriptions (typically in updateInitialize()).
2019-09-30 18:16:36 -04:00
roangel
1e510f5a44
[FlightTasks] Added class enum for FlightTasks errors ( #12822 )
2019-08-29 14:48:52 +02:00
Daniel Agar
e69398c09f
introduce uORB::PublicationQueued and transition most orb_advertise_queue usage
2019-08-04 10:08:09 -04:00
bresch
ea0e164145
FlightTask - Rename state_prev to last_setpoint
2019-07-16 13:09:09 +02:00
bresch
1414f50cea
FlightTask - When switching task, pass the last setpoints of the previous task to the new task
...
This is done to allow proper initialization of the new FlightTask and
give it a chance to continue the setpoints without discontinuity. The
function checkSetpoints replaces the setpoints containing NANs with an
estimate of the state. The estimate is usually the current estimate of
the EKF or zero.
The transition FlightTask also provides an estimate of the current
acceleration to properly initialize the next FlightTask after
back-transition. This avoid having to initialize the accelerations to
zero knowing that the actual acceleration is usually far from zero.
2019-07-16 13:09:09 +02:00
bresch
581d25f77f
Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller
...
Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
2019-04-26 12:43:26 +02:00
Martina Rivizzigno
e464502d2d
remove empty_trajectory_waypoint and getter method for avoidance
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waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
2019-04-04 16:41:26 +02:00
Simone Guscetti
2c06cb71c8
FlightTask: use convetion for definition of the landing gear default value
2018-12-10 16:17:23 +01:00
Simone Guscetti
6dbed6636d
FlightTasks: Add interface for landing gear
2018-12-10 16:17:23 +01:00
bresch
2c63388fb7
Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task
2018-11-06 22:17:00 +01:00
Dennis Mannhart
ff45ee67b4
FlightTasks: remove empty line
2018-10-10 10:30:48 -04:00
Dennis Mannhart
c3ba2687ac
FlightTask: if not in air, reActivate the task which will set the setpoints to current
...
vehicle state.
2018-10-10 10:30:48 -04:00
Daniel Agar
223dacee64
multicopter position controller use const references
2018-08-31 14:37:49 -04:00
Martina
aef41a1378
remove empty lines
2018-08-09 16:38:47 -04:00
Martina
ede302290b
FlightTasks: add getter method to retrieve empty avoidance waypoint in the
...
mc_pos_control
2018-08-09 16:38:47 -04:00
Martina
b856c1048d
FlightTask: add methods to get the desired trajectory waypoints
2018-08-09 16:38:47 -04:00
ChristophTobler
8090708f76
FlightTasks: generate tasks depending on target
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- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
2018-08-08 13:44:49 +02:00
MaEtUgR
7d4fcccf83
FlightTasks: fix switch case style
2018-07-24 15:03:53 +02:00
MaEtUgR
e95d795b08
FlightTasks: use member function as check for constistency
2018-07-24 15:03:53 +02:00
MaEtUgR
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
MaEtUgR
3b7d31de75
FlightTasks: reintroduce vehicle command handling
...
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
Dennis Mannhart
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1099dd8c7d
FlightTaskOffboard: first commit similar in logic to legacy code
...
FlightTaskOffboard: ensure supported offboard setpoints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
dca378fbfd
FollowMe: legacy implementation. NOTE: FOLLOW-ME is already broken on legacy code.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
51d4c1f305
FlightTasks: add getter method for constraints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
aef6b9216e
FlightTasksAuto/Line: replace BlockParams with module params
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fbe8a558b2
FlightTaskIndex: add AutoLine
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6e62beb560
FlightTaskAuto: abstract class for mapping triplets to quadruple
...
FlightTaskAuto: add type that corresponds to triplet type
FligthTaskAuto: set all setpoints if invalid in xy
FlightTaskAuto: cast triplet type to WaypointType
FlightTaskAutoLine: class for px4 legacy auto
FlightTaskAutoLine: methods prototype
FlightTaskAuto: change sp to wp (=Waypoint)
add params
FlightTaskAutoLine: follow waypoints along line based on flight state
2018-07-20 09:26:18 +02:00
Beat Küng
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
Matthias Grob
309237c4a2
FlightTasks: replace setpoint setters with members
...
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
2018-04-05 07:30:12 +02:00
Matthias Grob
8b4471d842
FlightTasks: comment out mavlink command processing
...
because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
2018-04-05 07:30:12 +02:00
Matthias Grob
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ac6ed74063
Add FlightTaskManualPositionSmooth
2018-04-05 07:30:12 +02:00
Dennis Mannhart
39c77546d3
FlightTaskManualAltitudeSmooth: create taks
2018-04-05 07:30:12 +02:00
Dennis Mannhart
3b4870b2c2
FlightTaskManual: define as abstract class
2018-04-05 07:30:12 +02:00
Dennis Mannhart
dcdf4d50a0
FlightTasks: add stabilized and fix switchTask for Altitude and Position
2018-04-05 07:30:12 +02:00
Dennis Mannhart
a9ac94dd83
Add FlightTasksManual/Altitude to position controller
2018-04-05 07:30:12 +02:00
Matthias Grob
a00c3e4024
FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value
2018-04-05 07:30:12 +02:00
Matthias Grob
6070d72308
FlightTasks: Various review refactoring
2018-04-05 07:30:12 +02:00
Matthias Grob
fd93e55527
FlightTaks: prevent running a new task with default parameters because they got rejected
2018-04-05 07:30:12 +02:00
Matthias Grob
d9c7e6321f
FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
2018-04-05 07:30:12 +02:00
Matthias Grob
c500221894
FlightTasks: move methods of the class header into the cpp
2018-04-05 07:30:12 +02:00
Matthias Grob
efd240904f
FlightTasks: added possibility to apply task parameters from the vehicle command
2018-04-05 07:30:12 +02:00
Matthias Grob
b1f24da05e
FlightTasks: enable mavlink command handling for switching tasks including acknowledgement
2018-04-05 07:30:12 +02:00
