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30,407 Commits 852 Branches 161 Tags
22c4bb498cf7a41551ac6ac5f35eb7ea6040ad44
Commit Graph
587 Commits
Author SHA1 Message Date
ChristophTobler f6e1ab9034 FlightTasks: cmake - add and remove tasks 
add possibility to add additional tasks or to remove upstream tasks
 2018-08-08 13:44:49 +02:00
ChristophTobler 89cc53755c FlightTasks: set variable for python args 2018-08-08 13:44:49 +02:00
ChristophTobler 4bbde0df8c FlightTasks: move FlightTask to own folder/lib 
fix header includes
add cmake subdirectories dynamically
 2018-08-08 13:44:49 +02:00
ChristophTobler 1b1b3b5484 FlightTasks: Move AutoMapper to own folder and create lib 
AutoLine now depends on AutoMapper
 2018-08-08 13:44:49 +02:00
ChristophTobler 8090708f76 FlightTasks: generate tasks depending on target 
- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
 2018-08-08 13:44:49 +02:00
ChristophTobler 34203f7e8c FlightTasks: add header lib for sport 2018-08-08 13:44:49 +02:00
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
ChristophTobler b68fd5e0a7 Flight Tasks: CMake/folder restructure (no code change) 
put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)
 2018-08-08 13:44:49 +02:00
Dennis Mannhart 4a91074aaa FlightTaskAuto: add comment 2018-08-03 08:24:34 +02:00
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. 
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: 
-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 
- fixes Coverity CID 306248
 2018-08-02 08:06:08 +02:00
Daniel Agar 36fdd3a127 FlightTaskManualPosition initialize all fields 
- fixes Coverity CID 306259
 2018-08-02 08:06:08 +02:00
Daniel Agar a90c7659ad FlightTasks local position setpoint don't use copyRaw 
- 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) 
- 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 
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 
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 
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 7d4fcccf83 FlightTasks: fix switch case style 2018-07-24 15:03:53 +02:00
MaEtUgR e95d795b08 FlightTasks: use member function as check for constistency 2018-07-24 15:03:53 +02:00
MaEtUgR 6472b579dc FlightTaskOrbit: switch rotation direction 
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
MaEtUgR 3b7d31de75 FlightTasks: reintroduce vehicle command handling 
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
Matthias Grob 93bab20510 FlightTaskOrbit: switch to FlightTaskAltitudeSmooth 
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 
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 
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 
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 
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