Junwoo Hwang
0e5c305163
Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables
2022-03-23 11:54:05 +01:00
Junwoo Hwang
f78465428c
Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue
2022-03-23 11:54:05 +01:00
Junwoo Hwang
8266a4df98
Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs()
2022-03-23 11:54:05 +01:00
bresch
f751dd2242
FlightTask: set yaw_setpoint to NAN when yaw should not be controlled
2021-11-16 18:09:37 -05:00
Matthias Grob
2a5751233a
FlightTasks: remove unused StraightLine library
...
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
2021-11-16 18:08:27 -05:00
Matthias Grob
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
RomanBapst
7cb99f521c
moved ManualVelocitySmoothing to motion_planning lib
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
Matthias Grob
2edd97102b
Sticks/StickYaw: refactor to use constructor properly
2021-10-05 18:05:54 -04:00
Matthias Grob
bb9f167d79
StickAccelerationXY: add reseting position to specified coordinates
2021-10-05 18:05:54 -04:00
Daniel Agar
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
Daniel Agar
b5430c22c4
AlphaFilter: move from ecl -> mathlib
2021-07-15 10:38:24 -04:00
Matthias Grob
5e75f17680
StickAccelerationXY: fix acceleration reset using x component instead of y
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This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
2021-04-23 21:57:27 -04:00
Matthias Grob
fee4728b1f
StickAccelerationXY: change function name feasibility limit -> jerk limit
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for clarity because it's more accurate.
2021-04-23 21:57:27 -04:00
Matthias Grob
4865d027f9
StickAccelerationXY: factor in stricter tilt limit on takeoff
2021-04-20 18:18:21 +02:00
bresch
6fda6e43af
StickAcceleration: synchronize XY acceleration profiles
2021-03-19 13:51:15 +01:00
Matthias Grob
63a35ccabd
StickAccelerationXY: fix losing the internal velocity setpoint state
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because of a failing position unlock with NAN velocity setpoint feedback.
2021-03-11 00:40:27 +01:00
Beat Küng
836c7c6575
StickAccelerationXY: brake a bit faster
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The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).
Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
2021-02-24 17:27:31 +01:00
Lorenz Meier
66d86aae2e
Flight mode manager: Protect for full throttle scaling
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PX4 supports -1 to 1 as input and this module was not protected against the input range.
2021-02-14 11:17:28 +01:00
Matthias Grob
82d6cc3dba
FlightTasks: use .xy() where possible
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to take the first two elements of a Vector3f.
2021-02-10 15:56:58 +01:00
Matthias Grob
dec353219d
FlightTaskManualAcceleration: smooth position unlock
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The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
2021-02-09 11:31:35 +01:00
Matthias Grob
c9eac29d25
StickAccelerationXY: access member setpoints directly
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This is a leftover from before converting the logic into
a completely separate class.
2021-02-09 11:31:35 +01:00
Matthias Grob
79739c5676
StrickAccelerationXY: name setpoints unambiguous
2021-02-09 11:31:35 +01:00
Beat Küng
76a447ed0f
fix StickAccelerationXY: avoid setpoint oscillations around 0
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With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
2021-02-08 13:51:36 +01:00
Daniel Agar
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
Junwoo Hwang