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232 Commits
Author SHA1 Message Date
Matthias Grob 228def6081 mission_block: explicitly (re)set the acceptance radius to default for takeoff items 
otherwise a previously adjusted or uninitialized radius from the last flight
can cause problems during the new takeoff
 2022-11-11 14:48:45 +13:00
Matthias Grob 092562dc51 mission_block: minimal acceptance radius of 1mm 
to avoid float rounding errors leading to tiny acceptance radii
getting considered
 2022-11-11 14:48:45 +13:00
Silvan Fuhrer 65d22120b2 Navigator: initialize _mission_item for all navigation modes in Navigator::Navigator() 
This fixes the issue where the init happended in the initializer list, at which point
the params were not yet initialized and thus resulted in random values for the init
values of _mission_item.loiter_radius and .acceptance_radius.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-10-27 13:20:29 +02:00
RomanBapst a7683eea07 mission_block: fix vehicle not exiting loiter after reaching exit heading 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-19 13:32:18 +02:00
Thomas Stastny d5a6174e7f mission block: fix incorrectly calculated ccw loiter exit (#19487) 
* mission block: fix incorrectly calculated ccw loiter exit

* mission block: update comment on orbit exit location
 2022-04-19 13:30:11 +02:00
Matthias Grob 666cf2326d mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Julian Oes fa6c051ae5 navigator: break smoothly when entering hold mode 
This uses the existing breaking functionality when hold/loiter mode is
activated.
 2022-02-22 09:41:22 -05:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Thomas Stastny f8c2ee73db handle line segment termination in navigator 
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
 2022-01-13 13:43:02 +01:00
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
Alessandro Simovic 7090e634cc mission_block: always accept yaw in MC takeoff 2021-11-16 12:35:16 -05:00
RomanBapst bf6a47ba6a navigator: cleanup of set_loiter_item 
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer cb78ba34d7 Mission: for tangential loiter exit, set current position setpoint typ to position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
RomanBapst d678e792cc mission_block: don't require an exiting heading when loitering if the next 
waypoint is within the loiter radius of the current waypoint

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
RomanBapst 8e8c6efd66 Mission block: do not care for altitdue acceptance when approaching backtransition point 
Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-22 15:37:10 +02:00
Beat Küng 1f73294ad7 navigator: switch to events 2021-09-11 14:08:41 -04:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Thomas a264541861 explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs. 2021-06-21 22:39:54 +02:00
Julian Oes 1b67187770 navigator: protect against 0 acceptance radius 
This seems to slip in e.g. as part of the VTOL_LAND command.
 2021-06-02 07:28:19 +02:00
Julian Oes ab23a44b99 navigator: fix acceptance radius for multicopter 
This fixes a regression introduced in
https://github.com/PX4/PX4-Autopilot/pull/16646
which meant that the acceptance radius was no longer used at all for
multicopter, and instead only the NAV_ACC_RAD param was used.

With this change we use the acceptance radius of the mission item again
if it is actually set (and not NAN) which we did not do before, and we
only do that for multicopter.
 2021-06-02 07:28:19 +02:00
Silvan Fuhrer 2c6b3eeb02 Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-03 08:40:54 +02:00
Julian Oes e6b1775bb6 vmount/navigator/mavlink: gimbal v2 changes 
This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
 2021-02-17 13:54:34 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer 85d8e74609 Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 4d6749edc2 mission_block: change loiter handling logic 
- add ability of "heading wait" for NAV_CMD_LOITER_TIME_LIMIT
- For both LOITER_TIME and LOITER_TO_ALT in fixed-wing flight, unify logic:
--> reach position --> start loitering --> reach altitude --> start timer (if applicable)
	--> reach exit heading (if applicable) --> declare mission item reached

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer f3adf6d67f mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Silvan Fuhrer 017567792b Navigator: for loiter position acceptance, use L1 distance and loiter radius 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 19:36:59 +01:00
Daniel Agar 25ef76b3b8 navigator: fix LOITER_TO_ALT 
- this was overzealously removed in https://github.com/PX4/PX4-Autopilot/pull/15677
 2020-12-11 16:28:08 +01:00
Igor Campos c316af6ec7 update to match new feature as a new mavlink command Oblique Survey 260 2020-12-09 17:54:53 +01:00
Jaeyoung-Lim d59ba2032f Handle takeoff waypoints for rover 
Fix
 2020-11-29 00:08:53 +01:00
Daniel AgarandRomanBapst c01fabaf11 FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2020-10-06 16:57:12 -04:00
kritz 9d962cdfbc Pr update matrix (#15520) 
* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule
 2020-08-11 10:08:41 +02:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
David Jablonski a0f5002685 navigator: fix loiter_time for FW missions 2020-04-25 09:13:09 -04:00
David Jablonski 536cd6cb1a allow DO_CONTROL_VIDEO in missions 2020-03-30 17:10:36 +02:00
David Jablonski 6bd191a24e Mavlink: Implemented SET_CAMERA_ZOOM 2020-03-30 17:10:36 +02:00
Lorenz Meier 76d20be29d Mission block: Gate math cleanup and checks 
This change simplifies the gate calculation.
 2020-03-14 17:50:40 +01:00
Lorenz Meier 4876e7bd6b Navigator: Improve documentation of mission block 
The default for the gate check condition is to pass and this needed to be explicitly documented
 2020-03-14 17:50:40 +01:00
Lorenz Meier 09595f88fc Mission block: Style improvement 
Boolean logic improvement to avoid double assignment of true
 2020-03-14 17:50:40 +01:00
Lorenz Meier 5936844595 Update to latest mission API 2020-03-14 17:50:40 +01:00
Lorenz Meier b405c7e9bd Navigator: Add ability to wait for a position gate with executing the mission 
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
 2020-03-14 17:50:40 +01:00
Daniel Agar a89b69b0ea vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Matthias Grob 9f545ae3cf navigator: convert to radians in configuration getter 2019-11-22 13:36:05 -05:00
Daniel Agar 515e896cde navigator: set position setpoint timestamp 2019-11-19 10:24:52 -05:00
Julian Oes ea35923d3a navigator: bugfix to prevent NaN setpoints 
The asinf function is NaN outside of -1 to 1. Therefore, it probably
makes sense to constrain the input to prevent NaN setpoints further down
the line.
 2019-10-09 08:36:34 -06:00
Silvan Fuhrer b1d38ee050 Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Timothy Scott 21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Timothy Scott 2ca40bfc65 Changed navigator to properly separate xy and z distance to waypoint 2019-06-13 10:04:26 +02:00