2320088541
use position controller parameters for limitation instead of acceleration/jerk
2019-06-04 16:47:33 +02:00
c497d94616
publish a minimal message for logging/debugging
2019-06-04 16:47:33 +02:00
09e1d4888c
use velocity component in bin direction instead of norm
2019-06-04 16:47:33 +02:00
33cd032c35
camelcase function name, initialize c++11 style
2019-06-04 16:47:33 +02:00
e7d17cc265
consider acceleration ramp-up time
2019-06-04 16:47:33 +02:00
ab792093e1
fix wrong if clause
2019-06-04 16:47:33 +02:00
23c23e3aa5
clean up
2019-06-04 16:47:33 +02:00
f50a1d58b0
bugfixes and cleanup
2019-06-04 16:47:33 +02:00
4212ae8b87
sign bug fix and clean up
2019-06-04 16:47:33 +02:00
60befdce5b
change collision prevention algorithm
2019-06-04 16:47:33 +02:00
8427cd3051
constant acceleration breaking for collision prevention
2019-06-04 16:47:33 +02:00
2c63e335e9
uORB::Subscription subscribe directly to uORB device node object
2019-06-03 17:06:21 -04:00
32fb2bae8c
InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers
2019-05-31 21:43:30 -04:00
cd45d8fc68
fxas21002c split out main and header
2019-05-31 18:20:32 -04:00
43e3fc707d
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers ( #12081 )
2019-05-30 21:07:26 -04:00
f85c15e247
board common create generic dma allocator (from fat_dma_alloc)
2019-05-30 19:31:40 -04:00
d13dfdcd24
AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate
2019-05-30 11:14:44 +02:00
a7cf981c8c
AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero
2019-05-30 11:14:44 +02:00
3499b6ff89
AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s
...
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
2019-05-30 11:14:44 +02:00
119ccc4256
ObstacleAvoidance: fix comment
2019-05-29 15:16:33 +02:00
61f69ed139
ObstacleAvoidance: use convention for paramter name
2019-05-29 15:16:33 +02:00
1e8582974c
do not update desired setpoints and waypoints if the oa is disabled
2019-05-29 15:16:33 +02:00
0963dc9af1
ObstacleAvoidance: fix bug in requesting update of the mission item.
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During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
2019-05-29 15:16:33 +02:00
9e8575b71b
do not overwrite with obstacle avoidance yaw setpoints if external yaw
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handling is enabled
2019-05-29 15:16:33 +02:00
44b8b4f79f
send velocity setpoint to enable proper takeoff/land
2019-05-29 15:16:33 +02:00
03332aaa20
PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update
2019-05-29 09:15:52 +02:00
6da78c956e
SYS_COMPANION: remove this parameter
...
It was already deprecated.
2019-05-29 09:15:52 +02:00
5d6cc7d033
ekf2: reduce GPS initialization time for SITL from 10s to 0.5s
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Speeds up SITL startup.
2019-05-28 10:45:38 +02:00
8a84472795
Hysteresis: switch unit test file name to convention
2019-05-27 09:57:50 +02:00
b29e5e3adb
hysteresis: remove dependency/side effect on time
2019-05-27 09:57:50 +02:00
7b9562e3b1
hysteresis: move out of systemlib, move to gtest
...
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
2019-05-27 09:57:50 +02:00
800266741b
Merge pull request #12063 from PX4/fix_custom_tune
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fix tunes: make sure a custom tune gets played
2019-05-25 17:58:44 +02:00
a18f3e5d45
reset the position lock only if current triplet latitude and longitude
...
are valid
2019-05-24 21:40:42 +02:00
e1bc975065
drivers/differential_pressure move all to px4 work queue
2019-05-24 12:58:55 -04:00
ea48cd4970
Takeoff: address @RomanBapst's review comments
2019-05-22 22:05:38 +02:00
bb055fdaf3
AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly
2019-05-22 22:05:38 +02:00
7c7d980cf0
FlightTasks: fix takeoff trigger for offboard
2019-05-22 22:05:38 +02:00
e73218d665
mc_pos_control/FlightTasks: trigger takeoff based on task
...
The initial idea of the flight task architecture was that
a task can freely set it's setpoints and doesn't have to
worry about takeoff and landing. It would just takeoff
when it's landed and there's a setpoint to go up and
land when it puts a setpoint that pushes into the ground.
With the takeoff logic there are some significant interface
problems depending on the way a task is implemented:
From the setpoint is not high enough to trigger to
an unexpected takeoff because of some estimator
fluctuation affecting the setpoint. It's easiest to solve this
by allowing the task to determine when a takeoff is triggered.
If no condition is implemented by default a task is not
allowing a takeoff and cannot be used to get the vehicle
off the ground.
2019-05-22 22:05:38 +02:00
f0cd79953f
create PX4Barometer class
2019-05-20 13:12:49 -04:00
a883d8eff9
PX4Magnetometer now functional
2019-05-20 13:12:49 -04:00
162405479b
device drivers lib add linux spi support
2019-05-20 12:18:56 -04:00
feefbb444b
ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration
2019-05-17 14:15:29 +02:00
b726d8df0d
Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode
2019-05-17 14:15:29 +02:00
011aef5464
px4_poll posix: fix wrap-around for large timeouts
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timeout is an int, so it wraps when the poll timeout is >2147ms.
This happened in logger, resulting in poll never returning.
2019-05-17 07:53:33 -04:00
9d8015d029
modules/lib: ignore address-of-packed-member
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For now we need to ignore this warning which GCC 9 shows for the MAVLink
headers.
2019-05-16 13:06:25 +02:00
d4b7441d12
Update submodule ecl to latest Wed May 8 12:38:58 UTC 2019 ( #11972 )
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- ecl in PX4/Firmware (fa1fbed24633aef7985a128ebd4d19a7f6a4d108): https://github.com/PX4/ecl/commit/c4492b17c1d7bb9b74011efa9890452b091421e8
- ecl current upstream: https://github.com/PX4/ecl/commit/a27a43eafa8f4dd514e89984f5394260a36ea4f6
- Changes: https://github.com/PX4/ecl/compare/c4492b17c1d7bb9b74011efa9890452b091421e8...a27a43eafa8f4dd514e89984f5394260a36ea4f6
a27a43e3f69189
2019-05-08 09:56:16 -04:00
f032d0d9fc
SYS_MC_EST_GROUP mark LPE unsupported and update airframes ( #11925 )
2019-04-29 11:50:36 -04:00
21194239c7
FlightTaskAuto: revisit yaw rate limit
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There were multiple comments not addressed in pr #11904 .
See commit 4bcb37f9bc9ef20b521ebcf33e7a0ed08fa86ccd
2019-04-26 18:58:50 +02:00
89bc68e12b
Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX
2019-04-26 12:43:26 +02:00
581d25f77f
Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller
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Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
2019-04-26 12:43:26 +02:00
baumanta