Beat Küng
bb756e0e12
FlightTaskAuto: remove unnecessary brackets in switch case statements
2018-10-04 15:09:02 +02:00
Matthias Grob
bee6a6b8b0
Refactor: Use new matrix::Vector2f constructor
2018-10-01 08:10:21 -04:00
Beat Küng
eac8f8813a
flight tasks: minor cleanup (avoid using *= for assignment)
2018-09-24 13:57:37 +02:00
Beat Küng
afada8ddb5
FlightTaskManualStabilized: allow attitude control with 0 throttle
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With minimum throttle set to 0, it was not possible to control the attitude
anymore at 0 throttle, the vehicle would just stay level.
2018-09-24 13:57:37 +02:00
Martina
5b8ae9fb29
rename position_controller_status field from altitude_acceptance_radius
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to altitude_acceptance
2018-09-24 11:23:01 +02:00
Martina
40650ee2c7
FlightTaskAuto: check avoidance progress only for multicopter
2018-09-24 11:23:01 +02:00
Martina
07eb0b697e
FlightTaskAuto: don't create vectors from pointers
2018-09-24 11:23:01 +02:00
Martina
ba4e633bd4
FlightTaskAuto: check avoidance progress only if avoidance is active
2018-09-24 11:23:01 +02:00
Martina
cef7673969
FlightTaskAuto: calculate the new altitude acceptance radius if the vehicle
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is inside the xy acceptance radius but not inside the z acceptance radius
2018-09-24 11:23:01 +02:00
Martina
a5a204004b
FlightTaskAuto: add check for xy mission progress
2018-09-24 11:23:01 +02:00
Roman
d6b6a1d0b3
addressed comments from review
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
Roman
8abcf2defa
mc_pos_control: use weathervane library to make vehicle turn into relative wind
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
Daniel Agar
223dacee64
multicopter position controller use const references
2018-08-31 14:37:49 -04:00
Daniel Agar
d11c6af923
FlightTaskAuto don't pass position setpoint by value
2018-08-30 19:04:13 +02:00
Daniel Agar
d131fea899
vehicle trajectory limit unnecessary updates and reduce logging ( #10347 )
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- fixes #10345
2018-08-30 09:21:13 -04:00
Dennis Mannhart
16ca0be4e5
FlightTaskAuto: set reference to 0 if auto is requested but no global position available
2018-08-30 09:44:54 +02:00
Dennis Mannhart
3222f583c8
use matrix .zero
2018-08-30 09:27:48 +02:00
Dennis Mannhart
a24fdb93c3
FlightTaskManual: increase rc timeout to 1.5 x COM_RC_LOSS_T
2018-08-30 09:27:48 +02:00
Dennis Mannhart
1f1c9fde01
FlightTaskAuto: lock yaw once within acceptance radius
2018-08-30 09:27:48 +02:00
Dennis Mannhart
8714b216b0
FlightTaskFailsafe: comments and land with land speed if velocity in z is valid but altitude not
2018-08-30 09:27:48 +02:00
Dennis Mannhart
3d250b3b83
FlightTaskAutoLine: don't update yaw if waypoints are too close together
2018-08-30 09:27:48 +02:00
Dennis Mannhart
4d9f96bfbd
FlightTaskFailure: will hover if position available, will land if velocity valid and
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will land with 0.3 of hover thurst if position nor velocity is valid
2018-08-30 09:27:48 +02:00
Daniel Agar
acff200f0d
FlightTasks safer matrix usage
2018-08-27 16:33:38 -04:00
ChristophTobler
56ea4fa6fa
FlightTask StraighLine: check values before dividing
2018-08-12 09:37:05 -04:00
ChristophTobler
d3d549b8e6
FlightTask Smoothing: check dt before dividing
2018-08-12 09:37:05 -04:00
Dennis Mannhart
9a23295a40
heading update: do not update heading within NAV_ACC_RAD
2018-08-10 15:52:10 +02:00
Martina
2d9bbeb7ed
FlightTaskAuto: use the triplets from navigator and not with the internal
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ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription
2018-08-09 16:38:47 -04:00
Martina
8096e84133
FlightTask: add padding to empty_trajectory_waypoint definition
2018-08-09 16:38:47 -04:00
Martina
10988f5bf1
FlightTask: add comment for method getAvoidanceWaypoint
2018-08-09 16:38:47 -04:00
Martina
aef41a1378
remove empty lines
2018-08-09 16:38:47 -04:00
Martina
b856c1048d
FlightTask: add methods to get the desired trajectory waypoints
2018-08-09 16:38:47 -04:00
Martina
17a08a9de7
FlightTaskAuto: add update method to get triplets for the trajectory
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interface
2018-08-09 16:38:47 -04:00
ChristophTobler
4bbde0df8c
FlightTasks: move FlightTask to own folder/lib
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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
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AutoLine now depends on AutoMapper
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)
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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.
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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.
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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
Beat Küng