119ccc4256
ObstacleAvoidance: fix comment
2019-05-29 15:16:33 +02:00
61f69ed139
ObstacleAvoidance: use convention for paramter name
2019-05-29 15:16:33 +02:00
1e8582974c
do not update desired setpoints and waypoints if the oa is disabled
2019-05-29 15:16:33 +02:00
0963dc9af1
ObstacleAvoidance: fix bug in requesting update of the mission item.
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During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
2019-05-29 15:16:33 +02:00
9e8575b71b
do not overwrite with obstacle avoidance yaw setpoints if external yaw
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handling is enabled
2019-05-29 15:16:33 +02:00
44b8b4f79f
send velocity setpoint to enable proper takeoff/land
2019-05-29 15:16:33 +02:00
a18f3e5d45
reset the position lock only if current triplet latitude and longitude
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are valid
2019-05-24 21:40:42 +02:00
ea48cd4970
Takeoff: address @RomanBapst's review comments
2019-05-22 22:05:38 +02:00
bb055fdaf3
AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly
2019-05-22 22:05:38 +02:00
7c7d980cf0
FlightTasks: fix takeoff trigger for offboard
2019-05-22 22:05:38 +02:00
e73218d665
mc_pos_control/FlightTasks: trigger takeoff based on task
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The initial idea of the flight task architecture was that
a task can freely set it's setpoints and doesn't have to
worry about takeoff and landing. It would just takeoff
when it's landed and there's a setpoint to go up and
land when it puts a setpoint that pushes into the ground.
With the takeoff logic there are some significant interface
problems depending on the way a task is implemented:
From the setpoint is not high enough to trigger to
an unexpected takeoff because of some estimator
fluctuation affecting the setpoint. It's easiest to solve this
by allowing the task to determine when a takeoff is triggered.
If no condition is implemented by default a task is not
allowing a takeoff and cannot be used to get the vehicle
off the ground.
2019-05-22 22:05:38 +02:00
feefbb444b
ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration
2019-05-17 14:15:29 +02:00
b726d8df0d
Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode
2019-05-17 14:15:29 +02:00
9d8015d029
modules/lib: ignore address-of-packed-member
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For now we need to ignore this warning which GCC 9 shows for the MAVLink
headers.
2019-05-16 13:06:25 +02:00
21194239c7
FlightTaskAuto: revisit yaw rate limit
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There were multiple comments not addressed in pr #11904 .
See commit 4bcb37f9bc9ef20b521ebcf33e7a0ed08fa86ccd
2019-04-26 18:58:50 +02:00
89bc68e12b
Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX
2019-04-26 12:43:26 +02:00
581d25f77f
Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller
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Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
2019-04-26 12:43:26 +02:00
eba0bb389a
ObstacleAvoidance: fix comment, update failsafe position if one axis is NAN
2019-04-24 08:54:50 +02:00
e037edd2cc
ObstacleAvoidance: once the commadand loiter has been sent, keep using
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the first position when the oa fails as setpoint to avoid jumps
2019-04-24 08:54:50 +02:00
c0a1f5b72f
Collision prevention improvements ( #11866 )
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* match max vel in col-prev to regular pos ctrl
* change warning criterium to avoid float error
* disable push back from obstacles
* use floats consistently
2019-04-17 13:20:29 -04:00
93d52581ef
Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK
2019-04-15 16:32:26 +02:00
e88f1b33b2
FlightTasks: fix mission DO_CHANGE_SPEED
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This fixes the issue where the DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
2019-04-12 15:47:36 +02:00
1454694bdd
FlightTaskAuto: separate default speed and limit
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It wasn't possible to fly faster than cruise speed even if planned
in the mission.
Limiting the planned cruise speed is necessary because
the smoothed trajectory mission plans to the _mc_cruise_speed and
if that's higher than the maximum it gets capped for safety by the
position controller and the result is a jerky flight.
2019-04-12 15:47:36 +02:00
6f5c97f184
ObstacleAvoidance: do not check for loiter nav state twice
2019-04-04 16:41:26 +02:00
0dab5d3a11
ObstacleAvoidance: enforce camel case
2019-04-04 16:41:26 +02:00
c5dfcbc50e
cosmetics changes to ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
e5441a6565
make format
2019-04-04 16:41:26 +02:00
34c0bb1723
ObstacleAvoidance: don't inject avoidance setpoint when in
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loiter mode since it's the failsafe mode
2019-04-04 16:41:26 +02:00
0e27b5cbfa
include libraries without the need for full path, make ObstacleAvoidance
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instance protected
2019-04-04 16:41:26 +02:00
4dcc77b822
ObstacleAvoidance: remove printf and remove unnecessary new lines
2019-04-04 16:41:26 +02:00
c1258931da
rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and
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updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
2019-04-04 16:41:26 +02:00
b165c41737
ObstacleAvoidance: add comments
2019-04-04 16:41:26 +02:00
aa1b46f85a
ObstacleAvoidance library: save current waypoint in global variable
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to check progress
2019-04-04 16:41:26 +02:00
94f73117c7
reintroduce obstacle avoidance failsafe. If OA fails, switch to loiter
2019-04-04 16:41:26 +02:00
e464502d2d
remove empty_trajectory_waypoint and getter method for avoidance
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waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
2019-04-04 16:41:26 +02:00
34b0f33098
move all obstacle avoidance interfaces to the ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
4e806d79fe
inject avoidance setpoints into AutoMapper
2019-04-04 16:41:26 +02:00
320ed40806
use subscription array in ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
a9bab81eb8
make format
2019-04-04 16:41:26 +02:00
8c24ba9255
move injection of avoidance setpoints to flight task library
2019-04-04 16:41:26 +02:00
dec96b0a3a
revert FlightTasks: fix mission DO_CHANGE_SPEED
2019-04-03 18:08:24 +02:00
20adce5077
Add new line at the end of FlightTaskFailsafe.cpp and FlightTaskAutoLine.cpp
2019-04-03 15:38:50 +02:00
b14446f0e5
Parameter update - Rename variables in lib
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using paramter_update.py script
2019-04-03 15:38:50 +02:00
a21242b0e3
FlightTasks: fix mission DO_CHANGE_SPEED
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This fixes the issue where the DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
2019-04-03 11:21:12 +02:00
99fb88ce83
AltitudeSmoothVel - Create new altitude flight task that uses the
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velocity smoothing library to create a jerk-limited trajectory along the
Z axis. This FlightTask is used when MPC_POS_MODE = 3.
2019-04-03 10:43:31 +02:00
a08b1682e3
[Position|AutoLine]SmoothVel - Update position and velocity states of the trajectories in case of EKF reset. Until now, only the position reset on XY axis was properly handled. Now, xy, vxy, z and vz are handled
2019-03-20 14:35:26 -04:00
0813f30723
AutoLineSmoothVel - change function contrain_one_side(..) from snake_case to camelCase
2019-03-20 14:35:26 -04:00
aecf8fce58
ManualPositionSmoothVel - Force velocity and acceleration setpoints to zero if the velocity setpoint is smaller than 1mm/s and that the acceleration setpoint is null
2019-03-18 08:33:11 +01:00
1fefa76e5d
ManualSmoothVel - Set jerk to 1.0 during position hold to help the optimizer to converge towards 0 vel and acc
2019-03-18 08:33:11 +01:00
06f683bdda
VelocitySmoothing - Add simple test script
2019-03-18 08:33:11 +01:00
Martina Rivizzigno