Paul Riseborough
2baa6caacb
FlightTasks: Fix transition between use of local and ground height (+2 squashed commits)
...
Squashed commits:
[ed2a243] FlightTasks: Preserve control loop tuning when applying max altitude limit
[b33b947] FlightTasks: Add terrain hold function
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
2018-07-22 17:42:31 +10:00
Dennis Mannhart
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
Dennis Mannhart
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
...
before applying limits
2018-07-20 09:26:18 +02:00
MaEtUgR
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
Dennis Mannhart
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
Dennis Mannhart
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
...
to position lock.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
Dennis Mannhart
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
...
distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
Dennis Mannhart
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
68dd2d739a
ManualSmoothingXY indent
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1317844a94
ManualSmoothingXY fix comments and style
2018-07-20 09:26:18 +02:00
Dennis Mannhart
250afd49a9
ManualSmoothingZ: update comments
2018-07-20 09:26:18 +02:00
Dennis Mannhart
216279b576
FlightTask: activate tasks with setpoints in use
2018-07-20 09:26:18 +02:00
Dennis Mannhart
389f897b04
mc_pos_control: member initialization during deceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
46f91154a4
Smoothing: initialize ModuleParam in body of constructor because of compiler error
2018-07-20 09:26:18 +02:00
Dennis Mannhart
742e9f7b15
FlightTaskManualStabilzied: check for absolute yaw
2018-07-20 09:26:18 +02:00
Dennis Mannhart
cfa412b55f
make format
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afbeafebd8
replace heading_reset_counter
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9ec47f2b74
replace reset counter logic for estimator reset for manual controlled mode
2018-07-20 09:26:18 +02:00
MaEtUgR
70802ba15a
FlightTaskManual: Yaw lock with deadzone and expo
...
More than a year ago I started the easy to use math::Functions to handle
the always used mathematical SISO functions to be tested and available.
I switched x, y and z stick input to the freesh programmed deadzone and
exponential functions from the library to unify and clarify their use.
I just realized yaw was left over because it lead to a drift problem in
certain new use cases.
Now I'm just adding the yaw stick to the already well working method.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2017e394b3
speed limitation during auto-takoff: remove from legacy and add to FlightTask
2018-07-20 09:26:18 +02:00
Dennis Mannhart
dcdbdbd8eb
FlightTaskAuto: need to remove check for yaw valid since there is a
...
bug in the navigator where this flag is not correctly set.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
740f1f284f
FlightTaskOffboard: enable triplet type takeoff, land etc
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1099dd8c7d
FlightTaskOffboard: first commit similar in logic to legacy code
...
FlightTaskOffboard: ensure supported offboard setpoints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
dca378fbfd
FollowMe: legacy implementation. NOTE: FOLLOW-ME is already broken on legacy code.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
547cdc051c
FlightTask: apply gear switch depending on task
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c637ccb65f
FlightTaskAutoLine: move altitude above ground computaiton to method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ea0a53192
FlightTask: set landing gear up boolean to false
2018-07-20 09:26:18 +02:00
Dennis Mannhart
7d7a2dffbf
Smoothing-classes: initialize to parameters
2018-07-20 09:26:18 +02:00
Dennis Mannhart
5ef2a61be5
ManualSmoothingXY: ensure that maximum speed is correctly propagated to the smoothing class
2018-07-20 09:26:18 +02:00
