1f44fb1efd
commander: internalize system status bools
...
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
dd0d1f001e
MPC velocity controller: Reduce gain to stabilize control loop
2016-04-08 21:25:55 -07:00
737ad045b2
Fix up formatting in mc pos control
2016-03-27 12:10:57 +02:00
6ff1b2d896
Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid
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booleans in setpoint struct
2016-03-27 12:10:57 +02:00
3aaad68c76
fixed position tracking overshoot
2016-03-27 12:10:57 +02:00
dfc2d9b5e0
more clean up
2016-03-27 12:10:57 +02:00
8829db8844
code clean up complete
2016-03-27 12:10:57 +02:00
01e971b342
Tests
2016-03-27 12:10:57 +02:00
0797c7fc21
velocity smoothing
2016-03-27 12:10:57 +02:00
c385d5e32b
Adjust multicopter position control default params
2016-03-25 14:22:49 +01:00
bba0d0384d
drivers/modules: changes after mavlink_log change
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The mavlink_log API changes lead to changes in all drivers/modules using
it.
2016-03-24 13:10:02 +01:00
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
c654b20584
param @unit remove % usage
2016-03-14 09:12:34 +01:00
f930f3e557
mc_pos_control param @unit
2016-03-14 09:10:29 +01:00
c97dca0cdb
MC pos control: Differentiate between cruise and max velocity
2016-03-13 18:09:52 +01:00
f73148e98d
mc pos control: Support do change speed
2016-03-13 18:08:25 +01:00
a62046625b
mc_pos_control: only reset position setpoint if we are not in rotary wing mode
2016-03-07 21:14:41 +01:00
2d2b0a2d43
mc pos: in auto mode reset the position to current position. Velocity controller ensures continuous attitude setpoint
2016-03-04 08:45:13 +01:00
9297a02ac2
move code which clears the pos and alt hold flags to the correct place.
...
this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.
2016-03-04 08:45:13 +01:00
989a4a0984
mc pos control:
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-when switching into vel control mode (xy) choose vel sp such that attitude
setpoint is continuous
2016-03-04 08:45:13 +01:00
7adaccfe67
Higher default gains for multicopter position control
2016-02-29 15:17:12 +01:00
473eea154f
MC position control: Hold position more aggressively
2016-02-27 12:12:26 +01:00
5aaf74bbe6
MC pos control: Allow higher yaw rate by default
2016-02-27 11:23:40 +01:00
267158751e
Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp
...
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:45 +01:00
014f15d8b0
Rebase changes on upstream master
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This brings in many of the changes from the PX4 fork on ATLFLight.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:43 +01:00
29f8409445
Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp
...
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:42 +01:00
9f3bf8e9f4
Rebase changes on upstream master
...
This brings in many of the changes from the PX4 fork on ATLFLight.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:41 +01:00
d5d3b63dc8
delete parameter MPC_HOLD_Z_DZ
2016-02-17 15:23:16 +01:00
8cd4b57c6b
add parameters for adjusting ALTCTL deadband
2016-02-17 15:22:28 +01:00
ead3eeda6c
expand description of MPC_THR_HOVER parameter
2016-02-17 15:22:28 +01:00
5de7c7e426
zero altctl deadband
2016-02-17 15:22:28 +01:00
159abb9b00
add parameter for hover throttle setting
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and tighten z deadband
2016-02-17 15:22:28 +01:00
101ac63737
change altctl throttle deadband to 2 point curve
2016-02-17 15:21:37 +01:00
48e2053f98
fixed code style
2016-02-16 10:26:13 +01:00
f11a619bf8
multirotor landing:
...
prevent sudden thrust setpoints when vehicle has reached ground
after landing
2016-02-16 10:26:13 +01:00
7db35337da
use control flag to decide if we enable wv or not
2016-02-15 09:48:37 +01:00
80f8fcbdf6
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:48:37 +01:00
e46824e784
MC pos control: Param meta data
2016-02-14 18:43:58 +01:00
2ff9fd64b1
increased stack sizes for mc and fw pos ctl
2016-02-11 16:53:35 +01:00
38ecec86f7
mc pos control:
...
do not run takeoff code when disarmed
2016-02-11 16:53:35 +01:00
26c635359e
updated some message severities and clarified reset in pos controller
2016-02-08 11:09:11 +01:00
f8f208dbe6
vtol: reset multirotor positon and altitude
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when not in rotary wing mode
2016-02-08 11:09:11 +01:00
0aff2e6c09
limit takeoff and land velocity to max z velocity
2016-02-02 21:35:18 +01:00
f35e3335be
- only use takeoff strategy when in auto mode
...
- after jumped takeoff set previous vel setpoint such
that thrust setpoint is continuous
2016-01-27 11:47:41 +01:00
ba169ce0b5
do not do jumped takeoff if already in air
2016-01-27 09:55:47 +01:00
5ea5ecf32b
Limit manual yaw command properly. Fixes #3600
2016-01-26 14:08:43 +01:00
9e2dd7aab6
landing without thrust limiting
2016-01-22 11:51:38 +01:00
7a8adaa591
multirotor landinging sudden fall protection:
...
remove condition which made activation of the protection
very unlikely
2016-01-22 11:51:38 +01:00
4614511474
use set takeoff speed
2016-01-21 10:18:13 +01:00
7817924aef
multirotor takeoff:
...
instead of altering the velocity setpoint for the vehicle to takeoff
use the thrust setpoint directly. this does not depend on the tuning of
the velocity loop.
2016-01-21 10:18:13 +01:00
Julian Oes