Necessary because NuttX defines pollfd differend from
the POSIX standard. The difference of field order makes
use of C++ designated initializers to compile for both
platforms impossible.
If the landed state was set before the position controller starts it
would get updated with the first poll_subscriptions() anyways. But it's
not on all posix and nuttx platforms I tested and the deleted statement
just copies the zero message into the struct which is already zero.
Because it was always failing from the beginning on and
we want to make sure no other tests break in the meantime
by running the currently passing tests also on Windows CI.
to save the time running the installer for every build
which was necessary before because the folder exceedes
the maximum of 1GB cache of the appveyor free plan
to fix Cygwin upload. It failed silently but when catching it prints
"non-standard baudrates are not supported on this platform".
Discussion about platform independet FTDI detection is in issue #10429.
Latest QGC daily supports sending an orbit command. This commit applies
the correct radius, rotation direction, velocity and center position.
Still missing is a check to have global position available and applying
x,y coordinates and altitude independently.
For the geo.h C library to convert between global and local frame
we need an up to date global reference which is currently inside the
vehicle_local_position message.
Switch to positive tangential velocity being clockwise because with NED
frame z-axis points down and mathematically positive around the z-axis
results in clockwise yaw rotation when seen from above. Also MAVLink
messages and other components in PX4 are defined this way.
The handling for vehicle commands inside the FlightTasks library
was already there but commented out because the previously used
MAVLink messages were tied to the specific application we used and
there was no clean common message definition. Because there is now
a well defined message for the orbit task I'm uncommenting and using
the working message handling again here.
Nice smooth altitude control is already provided by the existing
flight task for altitude mode. We inherit from it to resuse the
functionality and just all its update first not altering the setpoints
for the z-axis it produced.
Maximum velocity achievable in 4 seconds,
maximum radius achievable in 8 seconds for futher testing.
These should be parameters as soon as it works fine.
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
More than a year ago I started the easy to use math::Functions to handle
the always used mathematical SISO functions to be tested and available.
I switched x, y and z stick input to the freesh programmed deadzone and
exponential functions from the library to unify and clarify their use.
I just realized yaw was left over because it lead to a drift problem in
certain new use cases.
Now I'm just adding the yaw stick to the already well working method.
to disable automatic evaluation of /dev/ttyS* expression in cygwin.
On linux verbatim seems to be default anyways. At least it doesn't get
evaluated on linux.
In the Cygwin environment the native Windows serial COM# ports get mapped
to /dev/ttyS# for POSIX compatibility. While # is one number lower inside
the environment than the COM port number because it's 0 indexed instead
of 1.
I added the necessary handling to all the dependent parts I found which
allows uploading to /dev/ttyS# when the cygwin platform is detected.
Now the usual "make px4fmu-v4 upload" and
"./Tools/upload.sh build/px4fmu-v4_default/px4fmu-v4_default.px4" work.
Thanks to @bkueang 's review comment I switched to an explicit check for
an empty sting instead of a condition that could be theoretically true
in other cases and is less readable.
Type "man test" on your terminal to read up what -n stands for.
It seems that on linux only inside a makefile the parameter after the echo
command gets printed if no single quoted sting comes afterwards so I had
to switch to single quotes such that I can use the parameter.
Force interpretation of backslash escapes with the parameter -e of echo.
Switch to a lighter blue because on certain terminals default blue is
hard to read on black background.
The shell script which checks the style relies on greping for the
keyword "Formatted" in the output of astyle. But the program has
localization support and will output in other languages e.g. german.
This leads to all style checks always succeeding. I only tested this
on Windows in Cygwin but I can imagine the problem also exists in
non-english Ubuntu installations.
Solution is the parameter --formatted of astyle which only produces
any output if there was something to fix. This allows for a display
language independent condition for an empty string inside the shell
script.
With the new position control architercture manual mode and
potition mode run through the same logic and as a result
it had a throttle thershold for smooth takeoff also in
manual mode. This is fixed by by ignoring the threshold for
any mode which doesn't control the climb rate.
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.
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.
individual commit for the indentation because otherwise
the diff gets unreadable. this indentation is made because
afterwards the entire legacy position control functionality
is in an else case.
Matthias Grob