1cad36efb9
ControlMath: use sign for direction
2018-04-05 07:30:12 +02:00
b0b72e63e7
TranslationControl: remove throttle
2018-04-05 07:30:12 +02:00
6a4e3bb94e
TranslationControl: update comments
2018-04-05 07:30:12 +02:00
8da2ff4d77
mc_pos_control: set local position setpoint message for idle; for logging purpose,
...
always send local position setpoint when in air
2018-04-05 07:30:12 +02:00
ac4379d13f
TranslationControl: initialize with default constructor
2018-04-05 07:30:12 +02:00
e1ab31a5fc
TranslationControl: replace matrix::Vector3f with Data
2018-04-05 07:30:12 +02:00
ddecb4d3a4
teest_controlmath: incomplete set of thrust to attitude tests
2018-04-05 07:30:12 +02:00
bcbd3dc527
ControlMath: thrust to attitude method (legacy method)
2018-04-05 07:30:12 +02:00
adcb2b9ca8
TranslationControl: index fix
2018-04-05 07:30:12 +02:00
840247251d
ControlMath: sign fix
2018-04-05 07:30:12 +02:00
09bf73945a
ControlMath: rename namespace to file name
2018-04-05 07:30:12 +02:00
3b8c718971
TranslationControl: rename variable
2018-04-05 07:30:12 +02:00
2a544cee43
TranslationControl: use reference insteady of by value
2018-04-05 07:30:12 +02:00
ded8675dae
ControlMath: change description name
2018-04-05 07:30:12 +02:00
5fbee9fce9
ControlMath tests
2018-04-05 07:30:12 +02:00
03c81a8948
ControlMath: never saturate in xy when vector is below minimum
2018-04-05 07:30:12 +02:00
6daf78494a
TranslationControl: adjust direction based on constrainPIDu inputs
2018-04-05 07:30:12 +02:00
75b6af77de
ControlMath: fix index and don't adjust sign with method but rather function caller
...
needs to adjust for sign
2018-04-05 07:30:12 +02:00
19d50f9511
ControlMath: index fix and scaling fix
2018-04-05 07:30:12 +02:00
c9cd920642
rename VectorMath to ControlMath
2018-04-05 07:30:12 +02:00
820d6e866f
TransitionControl: replace thrust constraints with VectorMath functions;
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temporary: remove thrust projection onto body frame
2018-04-05 07:30:12 +02:00
41a5ea6daa
Multicoper position control: function file for controller specific functions
2018-04-05 07:30:12 +02:00
6ffa7a96ba
mc_pos_control: method for publishing attitude and local_pos_sp
2018-04-05 07:30:12 +02:00
6e63ddacd2
yaw setpoint: add math::radians
2018-04-05 07:30:12 +02:00
f0f84d300b
TranslationControl: move mc_pos_control related logic into TranslationControl
2018-04-05 07:30:12 +02:00
9ac32a764f
TranslationControl added to CmakeLists.txt
2018-04-05 07:30:12 +02:00
85c1627c74
TranslationControl: new class that generates thrust vector from state and setpoints
2018-04-05 07:30:12 +02:00
29b3950747
move geo and geo_lookup to PX4/ecl
2018-03-26 23:16:55 -04:00
d2712dcb05
mc_pos_control move to matrix lib ( #9141 )
2018-03-23 12:53:49 -04:00
ac7242987c
delete unused tailsitter_recovery library ( #9103 )
2018-03-21 14:09:36 -04:00
ff25c7f48a
ensure attitude setpoint initialization before arming
...
- On initialization _v_att_sp got filled with zeros
leaving invalid quaternions
- While not armed mc_pos_control did not publish any
attitude setpoint which makes no sense
- The attitude control just uses the data in _v_att_sp
if it was (ever) updated or not
2018-03-15 17:16:14 +01:00
4b64bfdd95
mc_pos_control: disable roll/pitch modification in manual for multicopters
...
This causes severe oscillations in aggressive maneuvers with high tilt
angles. It's an issue on VTOL's too, but the modification is specifically
for VTOL's and VTOL's typically do not fly with such high tilt angles
(>50 deg).
See also: https://github.com/PX4/Firmware/issues/7949
2018-02-12 10:53:54 +01:00
3928507f65
mc_pos_control MPC_CRUISE_90 missing max
2018-02-10 20:37:47 -05:00
5ad03d7ef2
mc_pos_control: comment typo in flow sensor altitude
2018-02-02 00:38:01 -05:00
eed8b00857
mc_pos_control: Release estimator speed limit only when speed demand is significant
...
This prevents unexpected increases in stick sensitivity when stick is moved after periods of inactivity.
2018-01-29 22:30:34 +01:00
f8693b49c2
mc_pos_control: Fix compile error after rebase
2018-01-29 22:30:34 +01:00
642a4a5fc7
mc_pos_control: respect estimator max speed and min height limits
2018-01-29 22:30:34 +01:00
d9221bb8d2
mc_pos_control : add support for precision landing
2018-01-15 10:27:23 +01:00
931482941c
mc_pos_control: use global _dt member from the control block architecture
2018-01-13 13:08:47 +01:00
60eb1c2262
mc_pos_control: delete the unused variable
2018-01-09 10:03:44 +01:00
3c667bb4f5
mc_pos_control: format fixes
2017-12-12 12:14:24 +00:00
deaa83bba0
mc_pos_control: Use vertical position derivative when in velocity control mode
...
Stops vertical velocity bias errors preventing the vehicle from landing.
Use of the vertical derivative is blended in so that for zero vertical velocity set point, the local_position.vz is used and when the magnitude of the vertical velocity setpoint exceeds the landing speed, the local_position.z_deriv is used.
2017-12-12 12:14:24 +00:00
4f8f0d8645
mc_pos_control: set triplets to NAN if not in auto mode
2017-12-07 20:27:11 +00:00
a81c49014f
mc_pos_control: reset height reference when global position available
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This enables the reference height to be reset when global vertical position becomes available in-flight.
2017-12-07 08:20:16 +00:00
a61974709b
mc_pos_control_main: wrap yaw attitude setpoint for offboard mode
2017-11-24 09:10:31 +01:00
26171df9fc
mc_pos_control: save previous velocity setpoint after constraining, fix smooth takeoff to be still excluded from slewrate
2017-11-15 10:38:57 +01:00
4416c4ddb3
navigator move parameters out of MissionBlock
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- MissionBlock is an interface with > 10 implementations
2017-10-26 22:43:53 +02:00
8e457b6037
reset setpoint to current position
...
avoid abrupt position changes as the delta can be quite big depending on deadreckoning/imu
2017-10-26 21:36:36 +02:00
8693c51cba
Fix bad meta data
2017-10-21 20:17:41 +02:00
8a0a8e20e1
mc_pos_control: use correct altitude as limit
...
fadfdasf
2017-10-10 10:28:07 +02:00
Dennis Mannhart