0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
4bf33339dc
FlightTaskManualStabilized: remove double limit of yawspeed
...
The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
2018-04-05 07:30:12 +02:00
eaf4f99e38
FlightTasks: adapt tasks to member setpoints
...
The FlightTaskManual... tasks already had their internal
setpoint member variables. I switched them to use the
architecture with setpoint member variables as it was
implemented the commit before. They simplify a lot.
2018-04-05 07:30:12 +02:00
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
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
421aeb69d8
FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based
...
on vehicle rotation in yaw
2018-04-05 07:30:12 +02:00
ab8527cc8f
FlightTaskManualStabilized: limit manual yaw rate in flighttask
2018-04-05 07:30:12 +02:00
017576262c
FlightTaskManual: replace yaw with yaw_sp for rotation
2018-04-05 07:30:12 +02:00
59bddf339a
ManualSmoothingXY: brake with large default jerk max
2018-04-05 07:30:12 +02:00
25c33d18b0
FlightTaskSport: just scale velocity septoint
2018-04-05 07:30:12 +02:00
16d6ac6ad1
FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly
2018-04-05 07:30:12 +02:00
7f406aa251
FlightTaskManualSmoothingZ: remove empty space
2018-04-05 07:30:12 +02:00
6538a7e88c
FlightTaskSport: replace rotation by axis angle
2018-04-05 07:30:12 +02:00
5bd2afa7be
FlightTaskManualPositionSmooth: remove unused mehthods and member variables
2018-04-05 07:30:12 +02:00
d6fe2159ae
FlightTaskManualPosition: remove update method and old member variable setpoints
2018-04-05 07:30:12 +02:00
a7f4859698
FlightTaskManualAltitudeSmooth: remove unused member methods/variables
2018-04-05 07:30:12 +02:00
c15b114cad
FlightTaskManualAltitude: remove member setpoints and update method
2018-04-05 07:30:12 +02:00
4b49b0ed7a
FlightTaskManualStabilized: update method that sets all member setpoints
2018-04-05 07:30:12 +02:00
2db2ef824b
FlightTaskManual: move all setpoints into base class
2018-04-05 07:30:12 +02:00
2e9cb659c9
FlightTaskManual: method to reset all members setpoints to NAN
2018-04-05 07:30:12 +02:00
52eeb02549
empty setpoint add NAN for thrust, add comment
2018-04-05 07:30:12 +02:00
fb2ce062e4
FlightTask: rebse fix for empty setpoint
2018-04-05 07:30:12 +02:00
f2f5f41641
FlightTaskManualSmoothing: change name of method
2018-04-05 07:30:12 +02:00
01073d36e5
FlightTaskManualPosition: use axis angle to rotate into world frame
2018-04-05 07:30:12 +02:00
d22af4679d
FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold
2018-04-05 07:30:12 +02:00
6fb9ca3b0c
FlightTasks: corrected comment and sorted out unnecessary includes
2018-04-05 07:30:12 +02:00
e1a81c7978
FlightTaskManual: remove unnecessary activate method
2018-04-05 07:30:12 +02:00
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
2018-04-05 07:30:12 +02:00
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
2018-04-05 07:30:12 +02:00
f8e4e82bba
snapdragon: Applied camelCasing
2018-04-05 07:30:12 +02:00
01ecb05341
snapdragon: changed constexpr to const in FlightTask so that it would compile
2018-04-05 07:30:12 +02:00
50c1eba392
snapdragon: fixed compiler shadow warning, function name was identical as a variable name
2018-04-05 07:30:12 +02:00
d64b59b95f
FlightTaskUtility: remove duplicate slewrate
2018-04-05 07:30:12 +02:00
c1bb0cbdcc
smoothing xy: remove unused variable
2018-04-05 07:30:12 +02:00
59f3de192f
ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped
2018-04-05 07:30:12 +02:00
13eb79ffb8
FlightTasks: fix class name
2018-04-05 07:30:12 +02:00
bb00f6d737
FlightTaskManualPosition: update to new smoothing interface
2018-04-05 07:30:12 +02:00
4f17fb1303
ManualSmoothingXY: detect alignement based on body frame; do direction change only if not yawspeed is demanded
2018-04-05 07:30:12 +02:00
40d77d2234
FlightTaskManualStabilized: remove second ;
2018-04-05 07:30:12 +02:00
5cfd93040f
ManualSmoothZ: move vel_sp_previous update into class
2018-04-05 07:30:12 +02:00
ed62056b7c
FlightTaskManualPositionSmooth: smooth xy and z
2018-04-05 07:30:12 +02:00
ac6ed74063
Add FlightTaskManualPositionSmooth
2018-04-05 07:30:12 +02:00
26889bc0e1
ManualSmoothing in xy
2018-04-05 07:30:12 +02:00
1ddcc7a3ee
FlightTaskManaulAltitude: fix activation
2018-04-05 07:30:12 +02:00
0ec312ef3d
FlightTaskManualAltitude: fix update
2018-04-05 07:30:12 +02:00
5ad37cec71
FlightTaskManualAltitudeSmooth: update vel sp z
2018-04-05 07:30:12 +02:00
153b012df6
FlighTaskManual lock condition: rename boolean
2018-04-05 07:30:12 +02:00
5d06464340
FlightTaskManualPosition: rename updateXYsetpoints to updateXYlock
2018-04-05 07:30:12 +02:00
efc2721add
FlightTaskManualAltitude: rename method from updateZsetpoints to updateAltitudeLock
2018-04-05 07:30:12 +02:00
1810ae8226
ManualSmoothingZ: remove description in cpp file
2018-04-05 07:30:12 +02:00
Beat Küng