Matthias Grob
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
Matthias Grob
2b6926fe9d
FlightTaskOrbit: speed up stick input to a fixed time frame
...
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
Matthias Grob
33ba041120
FlightTaskOrbit: improve yaw tracking with feed-forward
...
To make the vehicle front always point exactly to the center and not
lag behind.
2018-07-24 15:03:53 +02:00
Matthias Grob
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
Matthias Grob
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
Matthias Grob
993d76c0da
FlightTaskOrbit: fix vehicle yawing to the center
...
I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
2018-07-24 15:03:53 +02:00
ChristophTobler
99e58e2923
FlightTask StraightLine: make format
2018-07-24 08:40:05 +02:00
Matthias Grob
7e547e6322
FlightTask StraightLine: use 2D Vector and remove newline
2018-07-24 08:40:05 +02:00
ChristophTobler
ccd8a47015
FlightTask StraightLine: set origin and target at the same time
...
This avoids issues with reseting/calculating the max vel/acc
2018-07-24 08:40:05 +02:00
ChristophTobler
9e8c3ff0dc
FlightTask StraightLine: check if target and origin are the same
2018-07-24 08:40:05 +02:00
ChristophTobler
8998714130
FlightTask StraightLine: remove unused target reached flag
2018-07-24 08:40:05 +02:00
ChristophTobler
090db6a115
FlightTask StraightLine: set max vel/acc/dec if value is bigger
2018-07-24 08:40:05 +02:00
ChristophTobler
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
ChristophTobler
8b3716c0df
FlightTask StraightLine: remove 10% safety margin
2018-07-23 12:54:39 +02:00
ChristophTobler
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
ChristophTobler
e527a51de6
FlightTaskStraightLine: add descriptions for defines
2018-07-23 12:54:39 +02:00
ChristophTobler
37d4f714b2
FlightTaskStraightLine: replace define with parameter
2018-07-23 12:54:39 +02:00
ChristophTobler
ebceac5fff
FlightTasks: add lib for setpoints on a straight line
2018-07-23 12:54:39 +02:00
Daniel Agar
b1d3bb0403
stop ignoring Wmissing-field-initializers and fix ( #9912 )
2018-07-22 12:45:52 -04:00
Paul Riseborough
73a7aa75a8
FlightTasks: update terrain hold transition logic.
...
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
Paul Riseborough
2baa6caacb
FlightTasks: Fix transition between use of local and ground height (+2 squashed commits)
...
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
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
Dennis Mannhart
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
...
before applying limits
2018-07-20 09:26:18 +02:00
MaEtUgR
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
Dennis Mannhart
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
...
to position lock.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
Dennis Mannhart
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
...
distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
Dennis Mannhart
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
68dd2d739a
ManualSmoothingXY indent
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1317844a94
ManualSmoothingXY fix comments and style
2018-07-20 09:26:18 +02:00
Dennis Mannhart
250afd49a9
ManualSmoothingZ: update comments
2018-07-20 09:26:18 +02:00
Dennis Mannhart
216279b576
FlightTask: activate tasks with setpoints in use
2018-07-20 09:26:18 +02:00
Matthias Grob