Simone Guscetti
163d201c28
remove the landing gear from the attitude setpoint
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- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
2018-12-10 16:17:23 +01:00
Jake Dahl
21bcc0d2f4
mav_cmd_do_reposition now obeys the ground speed argument
2018-12-07 21:40:16 -05:00
Roman Bapst
90bfdb6f0a
VTOL rate control architecture improvements ( #10819 )
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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
2018-11-21 20:32:40 -05:00
Mara Bos
10c20b38ad
Fix many format strings.
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Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
2018-10-27 12:44:51 +02:00
Beat Küng
86673ecfcb
navigator: remove dependency on vtol module by using the C param API
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This is the quickest way to achieve the desired result.
Long-term we might do something else.
2018-10-26 08:02:42 +02:00
Beat Küng
b65871b433
fix reposition: set acceptance radius
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Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.
2018-10-25 17:05:27 +02:00
CarlOlsson
e6d378c9aa
navigator: fix typo
2018-10-22 09:26:06 -04:00
Martina
18f4144e5a
mission_block: when creating a triplet from a mission item use the default
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acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
2018-10-09 12:01:45 -04:00
Martina
5a57e82072
navigator: clarify NaN return for get_yaw_acceptance
2018-09-24 11:23:01 +02:00
Martina
b220e74219
navigator_main: add comment to explain yaw_acceptance usage
2018-09-24 11:23:01 +02:00
Martina
5b8ae9fb29
rename position_controller_status field from altitude_acceptance_radius
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to altitude_acceptance
2018-09-24 11:23:01 +02:00
Martina
fffb479edf
navigator_main: use the altitude acceptance radius from the pos control if
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it is greater than the one in the mission item
2018-09-24 11:23:01 +02:00
Martina
7031bb5a6d
navigator: add yaw_acceptance getter to incorporate feedback from position
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controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
2018-09-24 11:23:01 +02:00
Roman Bapst
8158cdfcf4
navigator: set yaw_valid flag in reposition triplet ( #10294 )
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- yaw_valid flag was always left at false which made the position controller reject the yaw setpoint of the reposition command
2018-09-16 19:29:38 -04:00
Daniel Agar
a6dabbbae7
Landing slope move to standalone library
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- this is shared by both the FW position controller and navigator's
missiong feasibility checker
2018-08-31 14:43:51 -04:00
Daniel Agar
5207c420c3
generic position controller status/feedback message
2018-08-31 14:43:51 -04:00
Philipp Oettershagen
334aa57a5f
Fixed-wing autoland: Remove the dynamic altitude acceptance calculation and just use a simple separate landing altitude acceptance radius instead. This gives users that do not use LOITER-TO-ALT waypoints more control over their landing procedure
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
20c02ae093
Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments.
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
ec4ccc1fcd
Fixed-wing autoland: Use a more appropriate (i.e. mostly tighter) altitude acceptance radius than just the standard altitude acceptance parameter (which may be too large to allow a precise autoland)
2018-08-24 10:13:07 -04:00
dakejahl
f62e89638f
navigator: add yaw setpoint to rcloss state ( #10291 )
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This fixes the issue where the vehicle yaws in a seemingly random direction when RC is lost.
2018-08-21 15:05:55 -04:00
dakejahl
f7147653ab
Navigator RTL: Removed the condition to transition straight to RTL_LAND if the previous setpoint was of type LAND. Not only does this not normally work, as the setpoints are cleared to invalid when navigator changes nav states, but the land lat/lon is set as home.lat and home.lot which is very wrong, as the vehicle would just beeline straight towards thatlocation. ( #10252 )
2018-08-16 18:08:46 -04:00
Beat Küng
c0cac0594e
file paths: add PX4_STORAGEDIR & use it where appropriate
2018-08-08 21:09:39 +02:00
Alessandro Simovic
aad1ff0209
mission_block: explicit type conversion
2018-08-06 16:17:11 +02:00
Alessandro Simovic
b527187a10
mission_block: swapped "param6" for "altitude" for consistency
2018-08-06 16:17:11 +02:00
Alessandro Simovic
337133e9fa
use double LAT/LONG fields instead of float params for storing ROI settings
2018-08-06 16:17:11 +02:00
Dennis Mannhart
d704a2d675
mission_param: remove MIS_YAWMODE
2018-08-03 08:24:34 +02:00
Dennis Mannhart
c76621bdb2
RLT: set yaw to current yaw during climb
2018-08-03 08:24:34 +02:00
Dennis Mannhart
998a95db55
mission.h: remove MIS_YAWMODE
2018-08-03 08:24:34 +02:00
Dennis Mannhart
e61131cf9c
mission heading_sp_update: remove everthing except of MC and ROI logic.
2018-08-03 08:24:34 +02:00
Dennis Mannhart
a3ca016c1d
loiter.h: remove yawmode param
2018-08-03 08:24:34 +02:00
Dennis Mannhart
f0140a6290
loiter: remove yaw_mode param and logic
2018-08-03 08:24:34 +02:00
TSC21
ca42483794
update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files
2018-07-30 21:40:28 +02:00
Jake Dahl
57dfcee842
added a check for not maybe_landed upon takeoff
2018-07-26 07:49:14 +02:00
Jake Dahl
4144a53cd6
added a check to ensure the current position setpoint is valid
2018-07-26 07:46:24 +02:00
Jake Dahl
a1ff4a8a67
removed unneccessary includes, eliminated namespace on math, changed date
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changed a comment
reverted a file back to master
2018-07-26 07:46:24 +02:00
Jake Dahl
21db15ff4f
If already in landing, go straight to state RTL_LAND. Also cleaned up the comments
2018-07-26 07:46:24 +02:00
Jake Dahl
130cdf25bf
prevent RTL if already landing
2018-07-26 07:46:24 +02:00
Jake Dahl
7c84e77312
we used to check if we have actually landed not mission reached in navigator
2018-07-26 07:45:00 +02:00
Philipp Oettershagen
79f172eb92
Navigator: Fix fixed-wing first order altitude hold ( #9850 )
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i.e. the altitude reference oscillations caused by it in LOITER mode
2018-07-15 23:54:08 -04:00
Daniel Agar
cf74166801
double promotion warning fix or ignore per module
2018-07-01 09:36:55 +00:00
Thomas Stastny
8551d2eb9d
mission feasibility: add small tolerance to fw landing slope alt
2018-06-29 12:10:53 +00:00
Daniel Agar
aa270fcd89
Mission feasibility: remove 2/3rds distance warnings that don't reject a mission ( #9743 )
2018-06-23 10:39:23 -04:00
Beat Küng
ff365cad08
rtl: change "RTL: land at home" message from critical to info
2018-06-15 15:53:28 +02:00
Oleg Kalachev
86d3603e2d
precland: fix landing target pose validity checking
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In precland the copter may switch to horizontal approach state with an
old landing target pose message.
2018-06-13 23:32:51 -04:00
Florian Achermann
4697bf428b
Navigator Fix: Do not set the closest mission item in normal mission mode ( #9646 )
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- fixes #9606
2018-06-12 12:11:14 -04:00
Daniel Agar
d73d20bcce
systemlib delete unused systemlib.h
2018-06-12 09:06:30 +02:00
Daniel Agar
d0bde9ab2a
replace geo _wrap_pi with matrix::wrap_pi
2018-06-12 09:00:52 +02:00
Florian Achermann
84578748f4
Navigator Mission RTL ( #8749 )
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* Add return to land to mission
This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
2018-05-27 12:07:06 -04:00
Sander Smeets
04cc5c5611
Navigator: VTOL only apply acceptance radius calculation for FW part of back transition ( #9519 )
2018-05-23 19:46:36 -04:00
Daniel Agar
222a91c6be
mathlib delete Matrix, Quaternion, Vector
2018-05-23 17:27:09 -04:00
Simone Guscetti