Claudio Chies
28a0de63c5
Orbit Yaw Vehicle Parameter ( #23358 )
2024-08-07 11:12:52 +02:00
Matthias Grob
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
Beat Küng
b0e1cc72f7
fix orbit for mc: handle VEHICLE_CMD_DO_ORBIT command and avoid race condition
...
Fixes a regression from 8bae4e5c0e29f70d5d1d2427ffdef97092be939c, where
the orbit flight task wasn't an extra task (flight_tasks_to_add) anymore
and therefore the command handling wasn't generated.
There was a race condition that could cause several outcomes. The most severe
was that flight_mode_manager gets the command, switches to orbit and then
in the next iteration switches back because commander did not change
nav_state yet. When commander then switches, flight_mode_manager would still
be in the old mode.
This is prevented by storing the command (allowing it to arrive before or
after mode switch), and then apply it after the switch happens.
2022-11-14 17:31:35 +01:00
Matthias Grob
5ca28dd6dc
Use isAllFinite() in all places that check finiteness on entire vectors or matrices
2022-10-19 19:09:20 +02:00
Matthias Grob
87cbda1992
FlightTaskOrbit: parameterize hardcoded maximum radius ( #20012 )
2022-08-05 09:19:32 +02:00
Hamish Willee
e6eed43648
Spelling errors ( #19935 )
2022-07-27 14:33:16 +10:00
Matthias Grob
8ca28f3796
Separate message for trajectory setpoint
2022-05-12 17:19:48 +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
d0794c1189
FlightTaskOrbit: don't start Orbit if radius is not in range
2022-03-28 17:57:56 +02:00
Matthias Grob
18629bb535
FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes
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
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
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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
Thomas Debrunner
4671a741dc
FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change.
2022-01-25 11:45:31 +01:00
bresch
ea7d2334c9
mpc: add parameter for ascent/descent speed in auto modes
2022-01-12 13:33:48 +01:00
Thomas Debrunner
ade4a1930c
trajectory-planning: Added option for PositionSmoothing library with single target waypoint that disables L1 guidance
2021-12-09 20:51:39 -05:00
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
Matthias Grob
f55590ce78
FlightTaskOrbit: remove duplicate newlines
2021-11-03 17:37:52 +01:00
Matthias Grob
eda9dce033
FlightTaskOrbit: fix direction change via MAVLink command
2021-11-03 17:37:52 +01:00
Thomas Debrunner
d450afead6
FlightTaskOrbit: Direct orbit approach with slowdown at intersection point
2021-11-03 17:37:52 +01:00
Thomas Debrunner
0d0b87e193
Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
...
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2021-11-03 17:37:52 +01:00
Thomas Debrunner
9bd46be124
Orbit: Switch to PositionSmoothing library.
...
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
2021-11-03 17:37:52 +01:00
Daniel Agar
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
Matthias Grob
25dd12382a
FlightTaskOrbit: default center at exact vehicle location
2021-03-17 09:50:11 -04:00
Matthias Grob
ef774578e1
FlightTaskOrbit: NACK command if coordinates could not get applied
2021-03-17 09:50:11 -04:00
Daniel Agar
0eac534b80
geo: purge globallocal_converter
2021-03-15 16:16:19 -04:00
Daniel Agar
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
Matthias Grob
82d6cc3dba
FlightTasks: use .xy() where possible
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to take the first two elements of a Vector3f.
2021-02-10 15:56:58 +01:00
Daniel Agar
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
