Dennis Mannhart
a24b614dec
FlightTaskAutoLine: generate heading along track if yaw setpoint is not valid
2018-08-03 08:24:34 +02:00
Dennis Mannhart
02feb10865
FlightTaskAuto: triplet yaw-setpoint has priority over MPC_YAW_MODE.
...
Add MPC_YAW_MODE option for heading along trajectory, which will be the same as
option 0 (heading towards target) if trajectory is straight line
2018-08-03 08:24:34 +02:00
Dennis Mannhart
694f49c80a
FlightTaskAuto: method for computing heading from 2D vector
2018-08-03 08:24:34 +02:00
Dennis Mannhart
6cd16f345e
FlightTaskAuto: set heading based on yaw mode
2018-08-03 08:24:34 +02:00
Dennis Mannhart
f0282bcd8f
FlightTaskAuto/Line: make params protected and add NAC_ACC_RAD and MPC_YAW_MODE
2018-08-03 08:24:34 +02:00
Dennis Mannhart
7723860f37
remove unused constant
2018-08-02 09:23:17 +02:00
Dennis Mannhart
a06ff4a2ce
FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments
2018-08-02 09:23:17 +02:00
Dennis Mannhart
338ca3104c
FlightTaskAutoLine: remove activate method bc uses same impl as FlightTaskAutoMapper
2018-08-02 09:23:17 +02:00
Martina
3fe2646d80
FlightTaskAuto: add comments and fix variable naming convention
2018-08-02 09:23:17 +02:00
Martina
e13ca0d990
FlightTaskAuto: fix triplet reset
2018-08-02 09:23:17 +02:00
Martina
f379035a3b
FlightTaskAuto: move generation of the the internal waypoints to FlightTaskAuto such that they are available to all derived classes.
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Change logic to update the internal triplets only when the navigator triplets have changed or when the vehicle state has changed.
2018-08-02 09:23:17 +02:00
Martina
ade254394e
fix parameters subscription
2018-08-02 09:23:17 +02:00
Martina
3f2f399b91
FlightTaskAutoMapper: clean-up and fix comments
2018-08-02 09:23:17 +02:00
Martina
d85481be6d
Restructure FlightTaskAutoLine:
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-add FlightTaskAutoMapper that handles the different types of waypoint and
generates setpoints for all types except of position and loiter
- FlightTaskAutoLine generates the setpoint types position and loiter if
the flight between waypoint is a straight line
2018-08-02 09:23:17 +02:00
Daniel Agar
6f204c4913
FlightTask initialize _dist_to_bottom
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- fixes Coverity CID 306248
2018-08-02 08:06:08 +02:00
Daniel Agar
36fdd3a127
FlightTaskManualPosition initialize all fields
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- fixes Coverity CID 306259
2018-08-02 08:06:08 +02:00
Daniel Agar
a90c7659ad
FlightTasks local position setpoint don't use copyRaw
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- fixes Coverity CID 268659
2018-08-02 08:06:08 +02:00
Dennis Mannhart
fc8a05f636
estimataor reset counter: set Flighttaskcounter equal reset-counter during activation ( #10035 )
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- fixes #10033
2018-07-28 10:08:58 -04:00
ChristophTobler
9aa6dad514
FlightTask orbit: make format
2018-07-24 15:03:53 +02:00
MaEtUgR
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
MaEtUgR
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
MaEtUgR
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
MaEtUgR
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
MaEtUgR
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
Matthias Grob
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
Matthias Grob
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
Matthias Grob
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
Matthias Grob
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
Matthias Grob
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
Matthias Grob
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
Matthias Grob
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
Matthias Grob
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
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
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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
ChristophTobler
090db6a115
FlightTask StraightLine: set max vel/acc/dec if value is bigger
2018-07-24 08:40:05 +02:00
ChristophTobler
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
ChristophTobler
8b3716c0df
FlightTask StraightLine: remove 10% safety margin
2018-07-23 12:54:39 +02:00
ChristophTobler
7e0976f0ef
FlightTaskStraightLine: fix braking distance corner cases
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check if target vel is bigger than desired vel
accelerate if already inside braking distance but vel is lower
2018-07-23 12:54:39 +02:00
ChristophTobler
e527a51de6
FlightTaskStraightLine: add descriptions for defines
2018-07-23 12:54:39 +02:00
ChristophTobler
37d4f714b2
FlightTaskStraightLine: replace define with parameter
2018-07-23 12:54:39 +02:00
ChristophTobler
ebceac5fff
FlightTasks: add lib for setpoints on a straight line
2018-07-23 12:54:39 +02:00
Daniel Agar
b1d3bb0403
stop ignoring Wmissing-field-initializers and fix ( #9912 )
2018-07-22 12:45:52 -04:00
Paul Riseborough
73a7aa75a8
FlightTasks: update terrain hold transition logic.
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Use pre-existing MPC_HOLD_MAX_XY parameter for speed threshold.
Use _stick_expo variable for stick movement check.
Update documentation.
2018-07-22 17:42:31 +10:00
Paul Riseborough
2baa6caacb
FlightTasks: Fix transition between use of local and ground height (+2 squashed commits)
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Squashed commits:
[ed2a243] FlightTasks: Preserve control loop tuning when applying max altitude limit
[b33b947] FlightTasks: Add terrain hold function
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
2018-07-22 17:42:31 +10:00
Dennis Mannhart
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
Dennis Mannhart
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
Dennis Mannhart