15180 Commits

Author	SHA1	Message	Date
Dennis Mannhart	22be99da3e	mc_pos_control: change name _pos_first_nofinite to _triplet_lat_lon_finite	2017-09-11 02:08:22 -07:00
Dennis Mannhart	cdb610a453	mc_pos_control: remove _limit_vel_xy	2017-09-11 02:08:22 -07:00
Dennis Mannhart	9ea465b66b	mc_pos_control auto: fix curr pos sp mapping to local frame	2017-09-11 02:08:22 -07:00
Dennis Mannhart	cb9efd7119	mc_pos_control: remove unused defines and add SIGMA	2017-09-11 02:08:22 -07:00
Dennis Mannhart	352f86fff4	mc_pos_control reintegration fixes of duplicates, unused parameter and order	2017-09-11 02:08:22 -07:00
Dennis Mannhart	bf5e81a34f	mc_pos_control param: acceleration parameters adjustment and addition	2017-09-11 02:08:22 -07:00
Dennis Mannhart	10a9c410e3	mc_pos_control: parameter for maximum horizontal velocity	2017-09-11 02:08:22 -07:00
Dennis Mannhart	8eca82022c	mc_pos_control: sub param.acc with block param	2017-09-11 02:08:22 -07:00
Dennis Mannhart	44e4beeeec	mc_pos_control: check if triplets are valid, otherwise ignore	2017-09-11 02:08:22 -07:00
Dennis Mannhart	5b03c5f68e	navigator: reset triplets during onboard/offboard mission update	2017-09-11 02:08:22 -07:00
Dennis Mannhart	c84c7cdcb4	mc_pos_control: set previous triplet point to invalid when switching to manual	2017-09-11 02:08:22 -07:00
Dennis Mannhart	2ceb703613	mc_pos_control: use math::constrain	2017-09-11 02:08:22 -07:00
Dennis Mannhart	947d63fb11	mc_pos_control auto: replace min_cruise_speed with cruise_speed_90; take care of case when cruise_speed_90 is exactly in the middle of max and min	2017-09-11 02:08:22 -07:00
Dennis Mannhart	3538f028b4	mc_pos_control: use 0.5 of acceleration for auto	2017-09-11 02:08:22 -07:00
Dennis Mannhart	807d45c99c	mc_pos_control slowing down close to target take over previous setpoint if low	2017-09-11 02:08:22 -07:00
Dennis Mannhart	ac3321dc6c	mc_pos_control: distinguish between up and down acceleration	2017-09-11 02:08:22 -07:00
Dennis Mannhart	c1199d1202	mission don't apply slewrate for altitude	2017-09-11 02:08:22 -07:00
Dennis Mannhart	9ec0d72f3c	mc_pos_control: make sure that passing waypoint only allowed if altitude is reached	2017-09-11 02:08:22 -07:00
Dennis Mannhart	b769d1cee0	mc_pos_control auto: apply auto logic for z-direction	2017-09-11 02:08:22 -07:00
Dennis Mannhart	2655c72cea	mission: remove altitude foh for rotarywing	2017-09-11 02:08:22 -07:00
Dennis Mannhart	8e99c73f49	mc_pos_control: don't divide by zero	2017-09-11 02:08:22 -07:00
Dennis Mannhart	cb820a168a	mc_pos_control: use original targethreshold when computing target_velocity	2017-09-11 02:08:22 -07:00
Dennis Mannhart	08d15f5402	mc_pos_control: remove target threshold from auto	2017-09-11 02:08:22 -07:00
Dennis Mannhart	dbed42a720	mc_pos_control auto: ensure the order of cruise speeds during mission	2017-09-11 02:08:22 -07:00
Dennis Mannhart	3f73a56f5a	mc_pos_control: accelerate faster in auto and increase speed at 90degrees angle	2017-09-11 02:08:22 -07:00
Dennis Mannhart	540c0bdafb	mc_pos_control: accelerate faster	2017-09-11 02:08:22 -07:00
Dennis Mannhart	7a822c9db2	mc_pos_control: don't use slewrate in mission	2017-09-11 02:08:22 -07:00
Dennis Mannhart	267dbe9b7a	mc_pos_control: when close to current and previous, ajdust target velocity	2017-09-11 02:08:22 -07:00
Dennis Mannhart	0a37d8dc42	mc_pos_control: clarify speed params	2017-09-11 02:08:22 -07:00
Dennis Mannhart	9cfc57e4a6	mc_pos_control: rebase fix	2017-09-11 02:08:22 -07:00
Dennis Mannhart	3e4ab5ed59	mc_pos_control: when close to current and previous, ajdust target velocity	2017-09-11 02:08:22 -07:00
Dennis Mannhart	c4c18caed4	mc_pos_control auto: set speed at 90degrees to 1	2017-09-11 02:08:22 -07:00
Lorenz Meier	38f796f991	mc pos control: More sign checks	2017-09-11 02:08:22 -07:00
Lorenz Meier	a6108cc951	mc_pos_control: Use proper boundary checking when taking the norm of a vector ... The previous method made too optimistic assumptions about the resolution of 32 bit floating point numbers.	2017-09-11 02:08:22 -07:00
Dennis Mannhart	4c4ee1af14	mc_pos_contol: sub eplsion with sigma, treat current behind independently	2017-09-11 02:08:22 -07:00
Dennis Mannhart	7734279f61	mc_pos_control: smooth transition between waypoint updates	2017-09-11 02:08:22 -07:00
Dennis Mannhart	3053b24761	mc_pos_control: auto remove min dist	2017-09-11 02:08:22 -07:00
Dennis Mannhart	8c5b1d33da	mc_pos_contol: add break when printing warning	2017-09-11 02:08:22 -07:00
Dennis Mannhart	13f8936cf1	mc_pos_control: warning for invalid thrust sp	2017-09-11 02:08:22 -07:00
Lorenz Meier	e58766c394	MC pos controller: log exceptions but rate-limit them	2017-09-11 02:08:22 -07:00
Dennis Mannhart	11a4410500	mc_pos_control: revert protection against nan thrust sp	2017-09-11 02:08:22 -07:00
Dennis Mannhart	dae1093bec	mc_pos_control: auto logic description and sanity check for thrust setpoint	2017-09-11 02:08:22 -07:00
Dennis Mannhart	6e5fe947fe	mc_pos_control: add clarification to auto function and auto angle computation	2017-09-11 02:08:22 -07:00
Dennis Mannhart	e51e52f425	mc_pos_control: reorder auto logic and ensure that nan gets caught	2017-09-11 02:08:22 -07:00
Dennis Mannhart	5d4486c920	mc_pos_control: only follow line if longer than 0.1	2017-09-11 02:08:22 -07:00
Dennis Mannhart	50e3c4067a	mc_pos_control: update _curr_pos_sp all the time	2017-09-11 02:08:22 -07:00
Dennis Mannhart	9dc5051504	mc_pos_control auto: use current velocity if smaller than velocity setpoint when slowing down	2017-09-11 02:08:22 -07:00
Dennis Mannhart	a84baa1dcc	mc_pos_control auto: adjust velocity only along track; use vector instead of point	2017-09-11 02:08:22 -07:00
Dennis Mannhart	2735280ffc	mc_pos_control auto: treat off the track differently depending on position	2017-09-11 02:08:22 -07:00
Dennis Mannhart	a7be9854d9	mc_pos_control: remove scaling in auto and remove limit_velocity function; update auto logic	2017-09-11 02:08:22 -07:00