21db15ff4f
If already in landing, go straight to state RTL_LAND. Also cleaned up the comments
2018-07-26 07:46:24 +02:00
130cdf25bf
prevent RTL if already landing
2018-07-26 07:46:24 +02:00
7c84e77312
we used to check if we have actually landed not mission reached in navigator
2018-07-26 07:45:00 +02:00
100f9553ce
tests clang-tidy ignore modernize-pass-by-value
2018-07-25 08:50:10 +02:00
9c0a6eb87a
clang modernize: remove void argument
2018-07-25 08:50:10 +02:00
40f2388295
test_search_min: remove printf
2018-07-25 08:50:10 +02:00
609d412217
BezierQuad: use template type Tp for default
2018-07-25 08:50:10 +02:00
7559610a7b
BezierQuad: update description, replace Data with Vector3_t
2018-07-25 08:50:10 +02:00
6ddf214bbd
BezierQuad: set cached_arc_length once computed
2018-07-25 08:50:10 +02:00
fe48e06f9d
add tests for Bezier and Golden Section Search libraries
2018-07-25 08:50:10 +02:00
c8842665da
mathlib: add golden section search
2018-07-25 08:50:10 +02:00
90f95bca0e
add Bezier library
2018-07-25 08:50:10 +02:00
5ec010372c
rcS preserve accel, gyro, and temp cal parameters
2018-07-25 07:48:19 +02:00
b98f5aaf7e
Update submodule micro-CDR to latest Tue Jul 24 20:26:29 CDT 2018
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- micro-CDR in PX4/Firmware (eca3a58a36d7367d5d5ca4a6289585e13003cf51): https://github.com/eProsima/micro-CDR/commit/890b118196a253540bc175096fa53d7733005d7b
- micro-CDR current upstream: https://github.com/eProsima/micro-CDR/commit/df48e526feca3bd140b0adf12c3c847a6d78ed79
- Changes: https://github.com/eProsima/micro-CDR/compare/890b118196a253540bc175096fa53d7733005d7b...df48e526feca3bd140b0adf12c3c847a6d78ed79
df48e52 2018-07-11 Luis Enrique Muñoz Martín - Removed some inline modifiers
c77a49f 2018-07-11 Luis Enrique Muñoz Martín - indent
4f659ab 2018-07-11 Luis Enrique Muñoz Martín - Removed unused images.
d3a5b4a 2018-07-11 Luis Enrique Muñoz Martín - Removed old files.
2018-07-25 07:31:02 +02:00
152c6db212
Fix logger signed unsigned error with GCC 7.3 in Cygwin ( #10009 )
2018-07-24 17:39:45 -04:00
80cac6561f
sensors: no temperature compensation in HITL
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Temperature compensation is not supported in HITL. Therefore, don't try
and fail. This basically removes the confusing error message that we get
in HITL.
2018-07-24 18:56:36 +02:00
ee3e34cd06
Move UART mapping comments back to top level rcS script. Deprecate PWM_ACHDIS and replace with PWM_AUX_OUT and set PWM_AUX_DIS value directly in vtol airframe config files. Replace tone_alarm instances with tune_control and default tune enums, and relocate an OUTPUT_MODE == fmu logic block in rcS.
2018-07-24 18:44:55 +02:00
4818e3abe0
ROMFS cmake combine copy, rc.autostart, prune steps
2018-07-24 10:50:24 -04:00
9aa6dad514
FlightTask orbit: make format
2018-07-24 15:03:53 +02:00
e8d2f1c2be
FlightTaskOrbit: execute MAVLink orbit command
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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.
2018-07-24 15:03:53 +02:00
7c068e47ab
FlightTaskOrbit: fix acceleration limit inverting velocity
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The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
2018-07-24 15:03:53 +02:00
12290c27e6
FlightTask: update global reference
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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.
2018-07-24 15:03:53 +02:00
7d4fcccf83
FlightTasks: fix switch case style
2018-07-24 15:03:53 +02:00
e95d795b08
FlightTasks: use member function as check for constistency
2018-07-24 15:03:53 +02:00
6472b579dc
FlightTaskOrbit: switch rotation direction
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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.
2018-07-24 15:03:53 +02:00
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
675b6bbabc
mathlib: fix comment typo
2018-07-24 15:03:53 +02:00
3b7d31de75
FlightTasks: reintroduce vehicle command handling
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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.
2018-07-24 15:03:53 +02:00
5dae404fb2
vehicle_commands: add VEHICLE_CMD_DO_ORBIT
2018-07-24 15:03:53 +02:00
93bab20510
FlightTaskOrbit: switch to FlightTaskAltitudeSmooth
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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.
2018-07-24 15:03:53 +02:00
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
2b6926fe9d
FlightTaskOrbit: speed up stick input to a fixed time frame
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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.
2018-07-24 15:03:53 +02:00
33ba041120
FlightTaskOrbit: improve yaw tracking with feed-forward
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To make the vehicle front always point exactly to the center and not
lag behind.
2018-07-24 15:03:53 +02:00
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
993d76c0da
FlightTaskOrbit: fix vehicle yawing to the center
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I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
2018-07-24 15:03:53 +02:00
1481015675
ROMFS cmake update dependency handling
2018-07-24 09:12:44 +02:00
99e58e2923
FlightTask StraightLine: make format
2018-07-24 08:40:05 +02:00
7e547e6322
FlightTask StraightLine: use 2D Vector and remove newline
2018-07-24 08:40:05 +02:00
ccd8a47015
FlightTask StraightLine: set origin and target at the same time
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This avoids issues with reseting/calculating the max vel/acc
2018-07-24 08:40:05 +02:00
9e8c3ff0dc
FlightTask StraightLine: check if target and origin are the same
2018-07-24 08:40:05 +02:00
8998714130
FlightTask StraightLine: remove unused target reached flag
2018-07-24 08:40:05 +02:00
090db6a115
FlightTask StraightLine: set max vel/acc/dec if value is bigger
2018-07-24 08:40:05 +02:00
c619009364
FlightTask StraightLine: replace powf(x,2) with x*x
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Apparently this is faster
2018-07-24 08:40:05 +02:00
7753dd4b4e
refactor uorb: inline orb_publish_auto
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It is a very small core function that needs to be fast.
2018-07-23 22:32:17 +02:00
875ee794ef
sensors: do not advertise topics before we have valid data
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Modules generally do not check for a valid timestamp, thus we need to avoid
publishing invalid data.
This is for example problematic in the attitude_estimator_q, if the
system has no mag: it will copy the (invalid) data and then fails to
initialize, as there is no more mag data coming in.
2018-07-23 22:32:17 +02:00
f4fef5efc8
attitude_estimator_q: cleanup output, remove unnecessary topic init
2018-07-23 22:32:17 +02:00
97fe5f928a
mavlink_orb_subscription: remove unneeded checks
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not needed anymore after the previous commit
2018-07-23 22:32:17 +02:00
2fe5e7735a
uorb: allow an orb subscription to retrieve data that was published prior to subscribe
2018-07-23 22:32:17 +02:00
Jake Dahl