Julian Kent
07d656e971
Guidance feature for Collision Prevention ( #13017 )
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* add guidance
* remove COL_PREV_ANG and replace with COL_PREV_CNG
* safe max ranges per bin
* increase default value for colprev delay to account for tracking delay
* update parameter description
* fix and extend testing
* add handling for overlapping sensor data
* fix decision process for overlapping sensors
2019-09-24 17:00:04 +02:00
Dennis Mannhart
453b6a39e4
TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries
2019-09-19 14:09:44 +02:00
Julian Kent
39451b811a
Do syscall for time once, outside of loop
2019-09-11 12:34:59 -04:00
Julian Kent
b27d6a958a
Account for the time since range data arrived
2019-09-11 12:34:59 -04:00
Tanja Baumann
f3c5ca6015
Collision Prevention: support multiple sensors and frames ( #12883 )
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* build internal sensor map
* Extend testing coverage
* Update matrix library
2019-09-06 08:38:56 +02:00
Daniel Agar
b0f82ee8ac
CollisionPrevention: update orb_publish to uORB::Publication<>
2019-09-02 15:35:34 -04:00
Julian Kent
865157228f
Add collision prevention velocity limitations also based on max accel/jerk
2019-09-02 14:51:18 +02:00
Tanja Baumann
be233f6bc7
Collision Prevention: don't allow moving outside sensor FOV ( #12741 )
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* don't allow moving outside FOV
* Update parameters in tests
2019-08-20 17:01:13 +02:00
Julian Kent
d70b024ec7
GTest functional tests that include parameters and uORB messaging ( #12521 )
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* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
2019-08-09 15:10:09 +02:00
baumanta
e91614c791
change angle parmeter to degrees
2019-08-07 15:29:13 +02:00
baumanta
14f128b89d
add parameter for detection angle
2019-08-07 15:29:13 +02:00
baumanta
150b5df7cb
change size of reaction angle
2019-08-07 15:29:13 +02:00
baumanta
b26d3ac9d4
no slinding in collision prevention (roll jerk fix)
2019-08-07 15:29:13 +02:00
Martina
119e5e3182
Revert "CollisionPrevention only process distance_sensor updates"
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This reverts commit 839787568c523dad917946322019293eddf6461c.
2019-08-07 04:01:50 -04:00
Daniel Agar
839787568c
CollisionPrevention only process distance_sensor updates
2019-08-04 10:04:09 -04:00
Martina Rivizzigno
1fb80612f3
CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179
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review comments
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
ac67d5603f
CollisionPrevention: compute the attitude_sensor_frame outside for loop
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
560c9f972a
CollisionPrevention: use the maximum timestamp between offboard and
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distance sensor such that if one of the two fails the vehicle goes into
failsafe, do not switch off CollisionPrevention if it fails
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
02bdc2c46b
CollisionPrevention: use FlightTasks convention for private/public methods,
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add doxygen on header file
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
8637a9255e
CollisionPrevention: add failsafe for stale distance data
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
e6e4d846fb
add uORB message obstacle_distance_fused with data from offboard
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obstacle_distance and distance sensor
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
a9b1946bea
CollisionPrevention: make sure that vehicle tilt compensation is
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correct for all sensor orientation
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
2439dc09ae
CollisionPrevention: refactor code to make it more readable
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
b6eea508bb
CollisionPrevention: make sure that the timestamp is updated for distance
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sensors even if they are out of range
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
09bfb00c88
Obstacle_distance: use only one increment in float directly
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CollisionPrevention: rename a few variables to make the code more readable
2019-07-15 10:58:00 +02:00
Martina Rivizzigno
5b24f28ac7
CollisionPrevention: map distance_sensor data to obstacle distance
2019-07-15 10:58:00 +02:00
Daniel Agar
90bf26b239
CollisionPrevention move orb subscriptions to uORB::Subscription
2019-06-07 09:22:35 -04:00
baumanta
2320088541
use position controller parameters for limitation instead of acceleration/jerk
2019-06-04 16:47:33 +02:00
baumanta
c497d94616
publish a minimal message for logging/debugging
2019-06-04 16:47:33 +02:00
baumanta
09e1d4888c
use velocity component in bin direction instead of norm
2019-06-04 16:47:33 +02:00
baumanta
33cd032c35
camelcase function name, initialize c++11 style
2019-06-04 16:47:33 +02:00
baumanta
e7d17cc265
consider acceleration ramp-up time
2019-06-04 16:47:33 +02:00
baumanta
ab792093e1
fix wrong if clause
2019-06-04 16:47:33 +02:00
baumanta
23c23e3aa5
clean up
2019-06-04 16:47:33 +02:00
baumanta
f50a1d58b0
bugfixes and cleanup
2019-06-04 16:47:33 +02:00
baumanta
4212ae8b87
sign bug fix and clean up
2019-06-04 16:47:33 +02:00
baumanta
60befdce5b
change collision prevention algorithm
2019-06-04 16:47:33 +02:00
baumanta
8427cd3051
constant acceleration breaking for collision prevention
2019-06-04 16:47:33 +02:00
baumanta
c0a1f5b72f
Collision prevention improvements ( #11866 )
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* match max vel in col-prev to regular pos ctrl
* change warning criterium to avoid float error
* disable push back from obstacles
* use floats consistently
2019-04-17 13:20:29 -04:00
bresch
b14446f0e5
Parameter update - Rename variables in lib
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using paramter_update.py script
2019-04-03 15:38:50 +02:00
baumanta
053494c535
use only one parameter and enable parameter change in flight. clean up code
2018-11-20 14:11:33 +01:00
baumanta
efa7e0ba77
clean up
2018-11-20 14:11:33 +01:00
baumanta
f5369db245
Put parameters inside library. Get rid of unnecessary activation logic
2018-11-20 14:11:33 +01:00
baumanta
dd45fa6541
change feature name from CollisionAvoidance to CollisionPrevention
2018-11-20 14:11:33 +01:00
