Dennis Mannhart
0f4eb8e766
PositionControl: add integral reset methods
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65a9cd171f
PositionControl: variable replacement
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e2ac12ef2c
FlightTask: comment fixes
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c6b5731086
test_controlmath: add first few tests for constrain function in xy
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c60481614e
ControlMath constrainxy: fix one of the condition
2018-07-20 09:26:18 +02:00
Dennis Mannhart
386b70dc58
ControlMath: add derivation and simplify computation
2018-07-20 09:26:18 +02:00
Dennis Mannhart
10bd3a50ba
PositionControl: parameter subscription declaration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
7f68417d19
PositionControl: make distinction for throttle minimum depending on mode
2018-07-20 09:26:18 +02:00
Dennis Mannhart
26ca17e329
comment fix
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ae07843e9
position control: remove empty space
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9ff4d13c2c
mc_pos_control: remove unused method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
75fb1b28b9
mc_pos_control: set thrust to zero if in idle
2018-07-20 09:26:18 +02:00
Dennis Mannhart
816f2d12d5
FlightTaskAuto minor clean up
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ae0f02f67d
ControlMath: by value to reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3c40aa0d9c
PositionControl: if valid velocity and position setpoint available, always prioritize
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velocity setpoint generated from position error over velocity feedforward
2018-07-20 09:26:18 +02:00
Dennis Mannhart
558a0f892c
PositionControl: auto takeoff with constant speed
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PositionControl: remove takeoff logic
mc_pos_control: takeoff logic for flighttask
mc_pos_control: smooth takeoff throttle start at 0
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6e62beb560
FlightTaskAuto: abstract class for mapping triplets to quadruple
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FlightTaskAuto: add type that corresponds to triplet type
FligthTaskAuto: set all setpoints if invalid in xy
FlightTaskAuto: cast triplet type to WaypointType
FlightTaskAutoLine: class for px4 legacy auto
FlightTaskAutoLine: methods prototype
FlightTaskAuto: change sp to wp (=Waypoint)
add params
FlightTaskAutoLine: follow waypoints along line based on flight state
2018-07-20 09:26:18 +02:00
Martina
5cd0da95cc
mc_pos_control_params: add type boolean to MPC_OBS_AVOID parameter
2018-07-12 16:36:11 -04:00
Martina
064a6dd2fd
mc_pos_control: fix rebase mistake
2018-07-12 16:36:11 -04:00
Martina
d6ea735b18
make format
2018-07-12 16:36:11 -04:00
Martina
492e40a139
mc_pos_control: enable obstacle avoidance only in mission and rtl
2018-07-12 16:36:11 -04:00
Martina
da2df5708b
mc_pos_control: refactor to use vehicle_trajectory_waypoint
2018-07-12 16:36:11 -04:00
Martina
33b1b13432
mc_pos_control: replace define with parameter to enable/disable obstacle
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avoidance
2018-07-12 16:36:11 -04:00
Martina
6cceca6fe5
mc_pos_control_params: add parameter to enable and disable obstacle
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avoidance
2018-07-12 16:36:11 -04:00
Martina
1144b66a70
mc_pos_control: temporary solution to enable and disable the execution of
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obstacle avoidance waypoints
2018-07-12 16:36:11 -04:00
Martina
c5d62b5524
mc_pos_control: use local frame position setpoint from triplets calculated
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in the pos_control and not coming from navigator. Refactor method
update_avoidance_waypoint_desired since all waypoints have the same type
2018-07-12 16:36:11 -04:00
Martina
26ca09f824
mc_pos_control: fix typo
2018-07-12 16:36:11 -04:00
Martina
59c7fc5d96
mc_pos_control: use one method to wrap yaw speed instead of triplicate
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code
2018-07-12 16:36:11 -04:00
Martina
8b20c66cfc
mc_pos_control: use desired velocity to calculate vel_sp_along_track_prev
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if obstacle avoidance is running
2018-07-12 16:36:11 -04:00
Martina
d39b969e72
mc_pos_control: refactor the update of the desired waypoints for avoidance
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to eliminate duplicated code
2018-07-12 16:36:11 -04:00
Martina
9bdc9aada2
mc_pos_control: use defines for point size and number of points in
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trajectory_waypoint
2018-07-12 16:36:11 -04:00
Martina
a11c6235fe
mc_pos_control: uses consistent naming for desired waypoints
2018-07-12 16:36:11 -04:00
Martina
272d7ca4cd
mc_pos_control: use consistent naming for position waypoints
2018-07-12 16:36:11 -04:00
Martina
3fa094cb6b
mc_pos_control: use same notation for velocity waypoints
2018-07-12 16:36:11 -04:00
Martina
31d675fd95
mc_pos_control: add interface to send desired position and velocity
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waypoint to the obstacle avoidance module
2018-07-12 16:36:11 -04:00
Martina
b33a708215
mc_pos_control: add vel_sp_desired to send desired velocity to the
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obstacle avoidance
2018-07-12 16:36:11 -04:00
Martina
47f2db67b6
mc_pos_control: execute yaw or yaw speed of the obstacle avoidance
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waypoint
2018-07-12 16:36:11 -04:00
Martina
df19610e69
mc_pos_control: add execution of position waypoint coming from the
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obstacle avoidance
2018-07-12 16:36:11 -04:00
Martina
5d6771753d
mc_pos_control: add execution of velocity waypoint coming from the
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obstacle avoidance module
2018-07-12 16:36:11 -04:00
Martina
f511d3a399
mc_pos_control: add method to constrain velocity setpoint
2018-07-12 16:36:11 -04:00
Martina
14444af38c
mc_pos_control: subscribe to trajectory_waypoint message
2018-07-12 16:36:11 -04:00
Hamish Willee
7402d8223b
Fix up references to pixhawk.org
2018-07-02 13:11:15 +02:00
Beat Küng
76c94b08f1
PositionControl: use constant references instead of pass-by-value for structs
2018-06-13 16:19:34 +02:00
Daniel Agar
d0bde9ab2a
replace geo _wrap_pi with matrix::wrap_pi
2018-06-12 09:00:52 +02:00
Paul Riseborough
c84d35e3d7
mc_pos_control: rework height limiter to stay in velocity mode
2018-06-09 13:38:04 +02:00
Paul Riseborough
d26da5fa3b
mc_pos_control: Improve maximum height limiter
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Implements a better method of determining when to switch from velocity to altitude control to keep height limit from being exceeded.
This method removes the overshoot and transients in height caused by the switching of the previous algorithm.
2018-06-09 13:38:04 +02:00
Paul Riseborough
f0a1cd197e
mc_pos_control: formatting fixes
2018-06-09 13:38:04 +02:00
Paul Riseborough
b77845a3c0
mc_pos_control: Fix bug in calculation of altitude limit
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The correction for stopping distance applied to the maximum altitude limiter uses the vertical velocity estimate and gives the same offset for both positive (down) and negative (up) velocity.
This calculation has been corrected and simplified and variable names changes to make the functionality clearer.
2018-06-09 13:38:04 +02:00
Mohammed Kabir
c1169eb38b
mc_pos_control : update to use new navigation limits architechture
2018-06-09 13:38:04 +02:00
Mohammed Kabir
b3c5e53333
Unify optical flow height limiting
2018-06-09 13:38:04 +02:00
Dennis Mannhart