0f67d3fcd8
removed jerk fix and reset prev horizontal vel sp with current velocity
2015-12-18 15:55:17 +00:00
35df66ce5d
MC pos control: Fix attitude and thrust SP generation
2015-12-18 15:55:16 +00:00
bc3f5daeec
Fix attitude yaw generation, store last acceleration setpoint for all non-velocity / position flight modes.
2015-12-18 15:55:16 +00:00
6053066e60
Limit jerk of all commanded trust in velocity mode so that we never get steps in the attitude response.
2015-12-18 15:55:16 +00:00
6ed702094b
MC pos control: Keep correctly track of velocity and accelerations
2015-12-18 15:55:16 +00:00
f533f6ce19
Store prev velocity at right location
2015-12-18 15:55:16 +00:00
7b06c4afb9
Acceleration limits: Limit at correct location
2015-12-18 15:55:16 +00:00
4f69834761
MC pos control: Add missing previous velocity SP checks
2015-12-18 15:55:16 +00:00
c1e40bdd60
limit maximal desired horizontal acceleration
2015-12-18 15:55:16 +00:00
c0f45ed8a7
use tilt compensation also for position control
2015-12-01 17:14:32 +01:00
d1dc8ed432
if vtol, publish virtual attitude setpoint
...
Conflicts:
src/modules/mc_pos_control/mc_pos_control_main.cpp
2015-11-25 13:28:22 +01:00
d55ccd96c6
let vtol attitude control module publish attitude setpoint during transition
...
Conflicts:
src/modules/commander/commander.cpp
src/modules/fw_att_control/fw_att_control_main.cpp
src/modules/mc_pos_control/mc_pos_control_main.cpp
2015-11-25 13:28:21 +01:00
78ace92530
reset position hold flag
2015-11-24 16:57:19 +01:00
5303a63da0
mc_pos_control: code formatting
2015-11-20 13:16:42 +01:00
ff5db6b1be
fixed alt hold bug
2015-11-20 13:10:46 +01:00
1b640f80fe
MC pos control: Widen manual deadband back to 20%
2015-11-09 23:40:31 +01:00
a6ba6eb2e4
reduce Z control deadband from 40% to 5%
2015-11-08 20:42:17 +01:00
170f0032fd
updated to master (solve merge conflicts)
2015-11-06 12:18:31 +01:00
85605f72f2
Merge pull request #2814 from PX4/mc_pos_guard
...
MC position controller: Guard against invalid setpoints
2015-11-06 09:17:05 +01:00
a567b9956f
fix position hold logic
2015-11-02 16:11:24 +01:00
601da2818b
do not set position setpoint too early
2015-11-01 10:13:55 +01:00
878dc4d7d4
MC pos ctrl: Do not build unused param file
2015-10-29 10:36:54 +01:00
dd59409e31
updated to master (solved merge conflicts)
2015-10-27 09:26:27 +01:00
0106be3e89
Added local position estimator.
2015-10-24 20:34:33 +02:00
efe82194af
ported control state attitude into mc_pos_ctrl
2015-10-16 16:03:25 +02:00
b3f912ecc1
reset position setpoint when in velocity control mode
2015-10-16 12:38:53 +02:00
8133f8d616
disable pos/alt controllers when following velocity setpoints in offboard mode
2015-10-16 11:13:52 +02:00
44bb50e9ea
separate _DZ parameter to XY and Z. this allows disabling pos hold for XY and not Z
2015-10-16 11:13:52 +02:00
9c49b30118
run position controller in main_task, otherwise position setpoints will not be followed
2015-10-16 11:13:52 +02:00
c010962861
change unit of MPC_HOLD_DZ parameter to "%"
2015-10-16 11:13:52 +02:00
42ccc654b5
fix float comparison to 0.0f
2015-10-16 11:13:52 +02:00
da3087e54c
expose pos-hold parameters (also allows different behaviours)
2015-10-16 11:13:52 +02:00
324c27b941
velocity control implemented: tested in SITL under manual mode
2015-10-16 11:13:52 +02:00
759d2a3dff
mc position control:
...
- directly use commanded velocity for control
- use position error to derive desired velocity when in position hold mode
2015-10-16 11:13:52 +02:00
104f38eea8
MC position controller: Guard against invalid setpoints
2015-10-15 22:38:58 +02:00
f1cc601ca8
L1 -> unit, L1 easily confused with L1 norm
2015-10-06 17:15:08 -04:00
fa5071b3c5
Remove module.mk files to prevent confusion of adopters upgrading
2015-10-06 11:23:20 +02:00
1d6b31d196
Switch to cmake build system.
2015-09-07 20:37:45 -04:00
9e1713eb9f
constantly reset altitude and yaw setpoint in mc pos control when not in rotary wing mode
2015-08-24 10:38:33 +02:00
f7e4a4852d
Reset the altitude setpoint.
2015-08-24 10:38:33 +02:00
044097afbb
mc_pos_controller: fix logic for att sp publication
2015-08-13 22:58:32 +02:00
d786fd4a1b
mc pos reset yaw when vtol transitions
2015-08-12 20:33:17 +02:00
04f55ce784
vtol fixes:
...
- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
2015-08-12 20:33:17 +02:00
ea7ae7d019
Merged beta into master
2015-08-01 16:58:02 +02:00
d94f2aa407
MC pos control: Use separate params for manual control
2015-07-22 17:12:43 +02:00
033c512fbf
Add separate params for manual throttle control
2015-07-22 17:12:43 +02:00
116bd9a03e
MC pos control: Code style fixes
2015-07-18 11:37:12 +02:00
6088fbb9be
Merge branch 'beta'
2015-07-05 13:48:16 +02:00
2adb48ce90
MC pos control: Better default velocity gain.
2015-07-05 13:48:07 +02:00
234990fbe4
Merge branch 'release_v1.0.0' of github.com:PX4/Firmware
2015-07-02 01:00:06 +02:00
Andreas Antener