08d15f5402
mc_pos_control: remove target threshold from auto
2017-09-11 02:08:22 -07:00
dbed42a720
mc_pos_control auto: ensure the order of cruise speeds during mission
2017-09-11 02:08:22 -07:00
3f73a56f5a
mc_pos_control: accelerate faster in auto and increase speed at 90degrees angle
2017-09-11 02:08:22 -07:00
540c0bdafb
mc_pos_control: accelerate faster
2017-09-11 02:08:22 -07:00
7a822c9db2
mc_pos_control: don't use slewrate in mission
2017-09-11 02:08:22 -07:00
267dbe9b7a
mc_pos_control: when close to current and previous, ajdust target velocity
2017-09-11 02:08:22 -07:00
0a37d8dc42
mc_pos_control: clarify speed params
2017-09-11 02:08:22 -07:00
9cfc57e4a6
mc_pos_control: rebase fix
2017-09-11 02:08:22 -07:00
3e4ab5ed59
mc_pos_control: when close to current and previous, ajdust target velocity
2017-09-11 02:08:22 -07:00
c4c18caed4
mc_pos_control auto: set speed at 90degrees to 1
2017-09-11 02:08:22 -07:00
38f796f991
mc pos control: More sign checks
2017-09-11 02:08:22 -07:00
a6108cc951
mc_pos_control: Use proper boundary checking when taking the norm of a vector
...
The previous method made too optimistic assumptions about the resolution of 32 bit floating point numbers.
2017-09-11 02:08:22 -07:00
4c4ee1af14
mc_pos_contol: sub eplsion with sigma, treat current behind independently
2017-09-11 02:08:22 -07:00
7734279f61
mc_pos_control: smooth transition between waypoint updates
2017-09-11 02:08:22 -07:00
3053b24761
mc_pos_control: auto remove min dist
2017-09-11 02:08:22 -07:00
8c5b1d33da
mc_pos_contol: add break when printing warning
2017-09-11 02:08:22 -07:00
13f8936cf1
mc_pos_control: warning for invalid thrust sp
2017-09-11 02:08:22 -07:00
e58766c394
MC pos controller: log exceptions but rate-limit them
2017-09-11 02:08:22 -07:00
11a4410500
mc_pos_control: revert protection against nan thrust sp
2017-09-11 02:08:22 -07:00
dae1093bec
mc_pos_control: auto logic description and sanity check for thrust setpoint
2017-09-11 02:08:22 -07:00
6e5fe947fe
mc_pos_control: add clarification to auto function and auto angle computation
2017-09-11 02:08:22 -07:00
e51e52f425
mc_pos_control: reorder auto logic and ensure that nan gets caught
2017-09-11 02:08:22 -07:00
5d4486c920
mc_pos_control: only follow line if longer than 0.1
2017-09-11 02:08:22 -07:00
50e3c4067a
mc_pos_control: update _curr_pos_sp all the time
2017-09-11 02:08:22 -07:00
9dc5051504
mc_pos_control auto: use current velocity if smaller than velocity setpoint when slowing down
2017-09-11 02:08:22 -07:00
a84baa1dcc
mc_pos_control auto: adjust velocity only along track; use vector instead of point
2017-09-11 02:08:22 -07:00
2735280ffc
mc_pos_control auto: treat off the track differently depending on position
2017-09-11 02:08:22 -07:00
a7be9854d9
mc_pos_control: remove scaling in auto and remove limit_velocity function; update auto logic
2017-09-11 02:08:22 -07:00
a02caff1bc
unit_test inline implementation and remove module build
2017-08-23 08:06:55 +02:00
b70b8288b9
px4_includes cleanup incomplete list
2017-08-20 20:42:42 +02:00
482a98facb
MC pos control: Use default scheduling priorities
2017-08-02 21:18:35 +02:00
e6f7af2dcf
landdetector + mc_pos_control cherry-pick fix
2017-08-01 19:31:34 +02:00
ec04577e3a
mc_pos_control: consider landing if not auto takeoff and valid
2017-08-01 19:31:34 +02:00
4692ccf287
mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint
2017-08-01 19:31:34 +02:00
363ed43d38
mc_pos_control: remove additional land-ground contact logic
2017-08-01 19:31:34 +02:00
8a76bd07d0
mc_pos_control: change if to else if
2017-08-01 19:31:34 +02:00
2890af7305
mc_pos_control: set thrust to zero once maybe_landed is reached
2017-08-01 19:31:34 +02:00
8878be5741
MC land speed: Ensure that the difference between land speed and land detection is high enough
2017-07-29 22:25:09 +02:00
bcca17204b
mc_pos_control_main: initialize _in_takeoff
2017-07-18 12:54:28 +02:00
60c760280e
mc_pos_control: fix comment typo "hight"
2017-07-07 18:25:35 +02:00
b511ccd9fe
mc_pos_control: integrate complete order and limits of velocity setpoint calculation
...
- one warn_rate_limited was missing
- vel_sp_slewrate was in the wrong order for smooth slowdown/speedup on takeoff and landing
- slow_land_gradual_velocity_limit was replaced by calls to math::gradual
- smooth takeoff speed got controllable by user input
- comments were corrected
- an additional check for the sanity of velocity setpoints was added
2017-07-07 18:25:35 +02:00
1d7f760a96
mathlib, mc_pos_control: rename functions file and add gradual linear function
2017-07-07 18:25:35 +02:00
1c2d54397f
mc_pos_control: move constraints to the end
2017-07-07 18:25:35 +02:00
2758a4a6fa
mc_pos_control: add warn_rate limit function
2017-07-07 18:25:35 +02:00
d641d776f7
mc_pos_control delete unused velocity feed forwards
2017-06-26 11:31:25 -04:00
f947205cbe
delete vehicle_global_velocity_setpoint
2017-06-26 11:31:25 -04:00
91a94ce874
check for NAN -> use curr pos and check if first to avoid drifting
2017-06-19 13:26:11 +02:00
bc406a122e
disable min loiter altitude
2017-06-15 09:18:35 +02:00
e0d81b4c5e
mc_pos_control: if triplet not valid in z ignore it
2017-06-07 16:43:36 +02:00
2a943f4bd0
mc_pos_control: only set current_setpoint to true if triplet valid
2017-06-07 16:43:36 +02:00
Dennis Mannhart