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1e8582974cc186964f227f80a131ec9b128976bf
Commit Graph
84 Commits
Author SHA1 Message Date
Martina Rivizzigno 1e8582974c do not update desired setpoints and waypoints if the oa is disabled 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 0963dc9af1 ObstacleAvoidance: fix bug in requesting update of the mission item. 
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
Martina Rivizzigno 9e8575b71b do not overwrite with obstacle avoidance yaw setpoints if external yaw 
handling is enabled
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno eba0bb389a ObstacleAvoidance: fix comment, update failsafe position if one axis is NAN 2019-04-24 08:54:50 +02:00
Martina Rivizzigno e037edd2cc ObstacleAvoidance: once the commadand loiter has been sent, keep using 
the first position when the oa fails as setpoint to avoid jumps
 2019-04-24 08:54:50 +02:00
Martina Rivizzigno 6f5c97f184 ObstacleAvoidance: do not check for loiter nav state twice 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0dab5d3a11 ObstacleAvoidance: enforce camel case 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c5dfcbc50e cosmetics changes to ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e5441a6565 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34c0bb1723 ObstacleAvoidance: don't inject avoidance setpoint when in 
loiter mode since it's the failsafe mode
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0e27b5cbfa include libraries without the need for full path, make ObstacleAvoidance 
instance protected
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 4dcc77b822 ObstacleAvoidance: remove printf and remove unnecessary new lines 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c1258931da rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and 
updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno b165c41737 ObstacleAvoidance: add comments 2019-04-04 16:41:26 +02:00
Martina Rivizzigno aa1b46f85a ObstacleAvoidance library: save current waypoint in global variable 
to check progress
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 94f73117c7 reintroduce obstacle avoidance failsafe. If OA fails, switch to loiter 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e464502d2d remove empty_trajectory_waypoint and getter method for avoidance 
waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34b0f33098 move all obstacle avoidance interfaces to the ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 320ed40806 use subscription array in ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno a9bab81eb8 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 8c24ba9255 move injection of avoidance setpoints to flight task library 2019-04-04 16:41:26 +02:00
bresch b14446f0e5 Parameter update - Rename variables in lib 
using paramter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 06f683bdda VelocitySmoothing - Add simple test script 2019-03-18 08:33:11 +01:00
bresch b9cf4dfb6c VelocitySmoothing - Get rid of math.h, math.cpp and px4_defines dependencies 2019-03-18 08:33:11 +01:00
bresch ddab0ccdf1 VelocitySmoothing - Protect against division by zero and sqrt of a negative number 2019-03-18 08:33:11 +01:00
Daniel Agar 0d170a0eaf FlightTasks VelocitySmoothing initialize member 
- fixes Coverity CID 328485
 2019-02-24 17:10:15 -05:00
bresch 70ddb8049a Traj Smoothing - make format 2019-02-13 20:56:57 +01:00
bresch 1730cd3a69 Velocity Smoothing - Various improvements, cleanup and corner cases fixes 2019-02-13 20:56:57 +01:00
Beat Küng c659d2bcc2 mixer: minor refactoring to reduce header include dependencies 
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
 2018-12-13 09:50:07 +01:00
bresch 7205e8f359 Auto traj - Add Trajectory logging 
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
 2018-11-06 22:17:00 +01:00
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
Beat Küng 787d82c9e6 VelocitySmoothing: simplify the API & fix style 2018-11-06 22:17:00 +01:00
Beat Küng d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
bresch 22780efcd0 Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between. 2018-11-06 22:17:00 +01:00
Beat Küng 86463e4ec7 Flight Tasks: add new trajectory smoothing flight task & library 
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
 2018-11-06 22:17:00 +01:00
Beat Küng dae7c56109 ManualSmoothing{XY,Z}: remove unused include 2018-10-04 15:09:02 +02:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Daniel Agar acff200f0d FlightTasks safer matrix usage 2018-08-27 16:33:38 -04:00
ChristophTobler 56ea4fa6fa FlightTask StraighLine: check values before dividing 2018-08-12 09:37:05 -04:00
ChristophTobler d3d549b8e6 FlightTask Smoothing: check dt before dividing 2018-08-12 09:37:05 -04:00
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
ChristophTobler b68fd5e0a7 Flight Tasks: CMake/folder restructure (no code change) 
put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)
 2018-08-08 13:44:49 +02:00
ChristophTobler 99e58e2923 FlightTask StraightLine: make format 2018-07-24 08:40:05 +02:00
Matthias Grob 7e547e6322 FlightTask StraightLine: use 2D Vector and remove newline 2018-07-24 08:40:05 +02:00
ChristophTobler ccd8a47015 FlightTask StraightLine: set origin and target at the same time 
This avoids issues with reseting/calculating the max vel/acc
 2018-07-24 08:40:05 +02:00
ChristophTobler 9e8c3ff0dc FlightTask StraightLine: check if target and origin are the same 2018-07-24 08:40:05 +02:00
ChristophTobler 8998714130 FlightTask StraightLine: remove unused target reached flag 2018-07-24 08:40:05 +02:00