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Author SHA1 Message Date
Matthias Grob 90998837ec Commander: ensure diconnected battery is cleared from bit field 2022-05-06 10:46:40 -04:00
Matthias Grob 97b2947416 FlightTaskAuto: refactor _commanded_speed_ts -> _time_last_cruise_speed_override 2022-04-13 12:23:27 +03:00
Matthias Grob 68cf686892 FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed() 2022-04-13 12:23:27 +03:00
Matthias Grob f892a624b7 FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting 2022-04-13 12:23:27 +03:00
Matthias Grob 6ce3e88f9d vehicle_command: specify what SPEED_TYPEs are for 2022-04-13 12:23:27 +03:00
Matthias Grob 10f927ae2b MulticopterPositionControl: remove unused return value parameters_update() 2022-04-12 10:13:11 -04:00
Matthias Grob fe26ee244d modeCheck: allow arming in land mode for MAVSDK compatibility 
ideally we can remove it again when the workflow is changed to
first changing mode then arming.
 2022-04-08 09:56:47 +02:00
Matthias Grob 92adc71424 ArmStateMachine: port over unit tests to functional gtests 2022-04-06 10:02:14 +02:00
Matthias Grob f968a5947d ArmStateMachine: port arming_state_names into the class 2022-04-06 10:02:14 +02:00
Matthias Grob 074080c816 Commander: separate out arm state machine to class 
Pure refactoring and just the first step to avoid conflicts on the way.
 2022-04-06 10:02:14 +02:00
Matthias Grob dd28c3e019 battery: update average current also when no capacity is configured 2022-04-04 10:02:55 +02:00
Matthias Grob 13c3eae6d0 battery: use mechanism to keep an up to date armed state 2022-04-04 10:02:55 +02:00
Matthias Grob 3aee2497bb commander_params: add precision land option for mode switch 2022-03-30 18:11:44 +02:00
Matthias Grob 7cd57b4415 FlightTaskOrbit: alert user about exceeded radius (mavlink_log) 2022-03-29 18:46:37 +02:00
Matthias Grob 3e8d2fea94 FlightTaskOrbit: alert user about exceeded radius (events) 2022-03-29 18:46:37 +02:00
Matthias Grob 8ad44ee128 FlightModeManager: remove needless space at the end of invalid task error string 2022-03-29 18:46:37 +02:00
Matthias Grob 9bdde98a68 FlightModeManager: refactor flight task switch result condition for vehicle commands 2022-03-29 18:46:37 +02:00
Matthias Grob ffaef906c4 FlightModeManager: don't ack with result failed when parameters are invalid 
Command denied is defined as "supported but has invalid parameters"
which matches the case.
 2022-03-29 18:46:37 +02:00
Matthias Grob fc0be6c4fc FlightModeManager: switch to failsafe task if orbit is rejected 2022-03-29 18:46:37 +02:00
Matthias Grob c7f114a26a FlightTaskOrbit: increase radius limit 2022-03-28 17:57:56 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Matthias Grob e6ed595651 Commander: make last_fail_time_us parameter a reference instead of pointer 2022-03-23 15:04:48 -04:00
Matthias Grob eee4aaee4f Commander: remove dynamic position velocity probation period 2022-03-23 15:04:48 -04:00
Matthias Grob 897506267d Sticks: name getThrottle() explicitly about range 2022-03-23 11:54:05 +01:00
Matthias Grob db7430aa65 matrix helper: remove needless comment line 2022-03-23 10:51:45 +01:00
Matthias Grob 18629bb535 FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes 2022-03-23 10:51:45 +01:00
Matthias Grob 74c0ae6e55 Functions: add sign from boolean function with unit tests 2022-03-23 10:51:45 +01:00
Matthias Grob e03585ca06 FlightTaskOrbit: remap stick input when vehicle faces tangential 2022-03-23 10:51:45 +01:00
Matthias Grob db1fb6acf7 Commander: no battery time based RTL when already landed 2022-03-23 10:49:38 +01:00
Matthias Grob 69f6092031 mavlink_receiver: remove unused land detection publication 2022-03-23 10:49:38 +01:00
Matthias Grob c1b9b8a1c0 MulticopterLandDetector: correct comment with outdated time constant reference 2022-03-23 10:49:38 +01:00
Matthias Grob b85c4ec475 Commander: rename land detection subscription for consistency 2022-03-23 10:49:38 +01:00
Matthias Grob 4a5a8d59fe matrix helper: add documentation for sign function 2022-03-23 08:47:52 +01:00
Matthias Grob d0abcc1ca3 MatrixHelperTest: add unit tests for the signum function 2022-03-23 08:47:52 +01:00
Matthias Grob 03f836f79d matrix helper: fix sign function zero case 2022-03-23 08:47:52 +01:00
Matthias Grob 9ab99a7689 MatrixHelperTest: don't rely on FLOAT_EQ accepting FLT_EPSILON inaccuracy 2022-03-18 13:35:18 +01:00
Matthias Grob cde7b1bc41 Matrix: remove deprecated minimal test framework 2022-03-17 13:02:22 +01:00
Matthias Grob 91493307b9 Matrix: convert vector test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 4b63f6b29a Matrix: convert vector assignment test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob f4b53d2762 Matrix: convert vector3 test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob ddfd62dfc2 Matrix: convert vector2 test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob be28aeb3ee Matrix: convert upper right triangle test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 4d43aad847 Matrix: convert transpose test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob b3cc18c6de Matrix: convert square test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 555ed9b9d8 Matrix: convert slice test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 46df8ab60c Matrix: convert set identity test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 831f0e9aac Matrix: convert scalar multiplication test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 38d742f1b5 Matrix: convert pseudo inverse test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 57e443c4a4 Matrix: convert multiplication test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 719898f1e3 Matrix: convert least squares test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob fddcf342e9 Matrix: convert inverse test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob f5ec4b2339 Matrix: convert integral test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 7c9e28c168 Matrix: convert helper test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 0c4c3a917c Matrix: convert hat vee test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 8f695a5613 Matrix: convert filter test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 79e8152f05 Matrix: convert dual test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 62571b6984 Matrix: convert copy to test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob 35b035e880 Matrix: convert attitude test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob c33bf5b705 Matrix: convert assignment test to gtest 2022-03-17 13:02:22 +01:00
Matthias Grob fa35635486 Matrix: change naming of sparse vector test 2022-03-17 13:02:22 +01:00
Matthias Grob f1e44c6e2a PreFlightCheck: only allow modes suitable for takeoff 2022-03-14 09:03:39 +01:00
Matthias Grob c4bc062714 helper_functions: generalize unwrapping function 2022-03-08 10:56:32 +01:00
Matthias Grob c86c2db07f helper_functions: simplify unwrap function 2022-03-08 10:56:32 +01:00
Matthias Grob 68a0414622 Quaternion: rename function to rotate vectors 2022-03-07 20:03:54 -05:00
Matthias Grob 666cf2326d mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Matthias Grob 4ef8cead3d mc_pos_control_params: correct crawl speed reference 2022-02-04 21:56:20 -05:00
Matthias Grob 1df9d6fca6 MulticopterLandDetector: fix crawl speed parameter fetching 2022-02-04 21:56:20 -05:00
Matthias Grob ae0bb8371d Commander: message planned battery action with warning together 2022-01-31 20:27:06 -05:00
Matthias Grob 973116c7a4 commander_params: clarify failsafe delay procedure description 2022-01-31 20:27:06 -05:00
Matthias Grob cd560da57c Commander: correct battery failsafe message severity level 2022-01-31 20:27:06 -05:00
Matthias Grob 405852b5c8 Commander: only disallow RC override during battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 5ec21835a4 Commander: ensure low battery failsafe flying unatended without GPS 2022-01-31 20:27:06 -05:00
Matthias Grob 1911ec0085 Commander: fix user messageing for low battery failsafe delay 2022-01-31 20:27:06 -05:00
Matthias Grob 52a9040c62 BatterySimulator: recharge battery upon disarming 2022-01-31 20:27:06 -05:00
Matthias Grob 955aad0dfb Commander: consistent hysteresis initialization 2022-01-31 20:27:06 -05:00
Matthias Grob d10f9030ad Commander: add delay before executing low battery failsafe action 2022-01-31 20:27:06 -05:00
Matthias Grob 3af315f2c3 Commander: change battery failsafe to return action instead of executing 2022-01-31 20:27:06 -05:00
Matthias Grob 8eed43b515 Commander: put battery warning and failsafe action in separate functions 2022-01-31 20:27:06 -05:00
Matthias Grob 367b6123e1 state_machine_helper: change main state directly also for low battery RTL 2022-01-31 20:27:06 -05:00
Matthias Grob f49bd9956b state_machine_helper: reuse battery action conditions 2022-01-31 20:27:06 -05:00
Matthias Grob 95b5bc0d84 state_machine_helper: separate low battery warning from action 2022-01-31 20:27:06 -05:00
Matthias Grob 42404ade77 FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes 
instead of arbitrary fractions of the maximum radius and velocity.
 2022-01-25 11:45:31 +01:00
Matthias Grob 7c55229db7 FlightTaskOrbit: Fix altitude adjustment by stick 
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
 2022-01-25 11:45:31 +01:00
Matthias Grob d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob 38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob 661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Matthias Grob 8525a8e520 FlightTaskAuto: fix typo pos(i)tion 2022-01-25 11:45:31 +01:00
Matthias Grob c9f7c20d46 MulticoperPositionController: time failsafe messages together 
The following output instead of printing the
action "stop and wait" just once:

WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
WARN  [mc_pos_control] invalid setpoints
WARN  [mc_pos_control] Failsafe: stop and wait
 2022-01-19 14:31:19 +01:00
Matthias Grob d4e356a1ac PosititionControl: fix integrator windup with invalid setpoint 2022-01-19 14:31:19 +01:00
Matthias Grob 8811482f1d PositionControlTest: add integrator windup with invalid setpoint combination unit test 
This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
 2022-01-19 14:31:19 +01:00
Matthias Grob 443406ea2b FlightTaskAuto: use longerThan() when possible in vector calculations 2022-01-12 15:12:24 +01:00
Matthias Grob bbad4a5397 FlightTaskAuto: Respect altitude with offtrack state 
To avoid weird cases where the altitude is different enough and
the offtrack state flies to the target altitude instead of the closest
point on the track between the waypoints.
 2022-01-07 10:30:39 -05:00
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Matthias Grob f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
Matthias Grob 897775f38d ManualControlSelector: Allow disabling stick input 2021-12-10 09:11:08 -05:00
Matthias Grob 300e439144 ManualControlSelector: Enable original PX4 default behavior until QGC catches up 2021-12-10 09:11:08 -05:00
Matthias Grob 495f1c9165 battery: don't initialize _source without constructor 2021-12-07 21:06:51 +01:00
Matthias Grob 68e2940f58 math: support max of three values additional to min and use it everywhere 2021-12-07 21:06:51 +01:00