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26,472 Commits 852 Branches 161 Tags
31d675fd952aba92825a52c573cb82821b369d60
Commit Graph
600 Commits
Author SHA1 Message Date
Martina 31d675fd95 mc_pos_control: add interface to send desired position and velocity 
waypoint to the obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina b33a708215 mc_pos_control: add vel_sp_desired to send desired velocity to the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00
Martina 47f2db67b6 mc_pos_control: execute yaw or yaw speed of the obstacle avoidance 
waypoint
 2018-07-12 16:36:11 -04:00
Martina df19610e69 mc_pos_control: add execution of position waypoint coming from the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00
Martina 5d6771753d mc_pos_control: add execution of velocity waypoint coming from the 
obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina f511d3a399 mc_pos_control: add method to constrain velocity setpoint 2018-07-12 16:36:11 -04:00
Martina 14444af38c mc_pos_control: subscribe to trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Hamish Willee 7402d8223b Fix up references to pixhawk.org 2018-07-02 13:11:15 +02:00
Beat Küng 76c94b08f1 PositionControl: use constant references instead of pass-by-value for structs 2018-06-13 16:19:34 +02:00
Daniel Agar d0bde9ab2a replace geo _wrap_pi with matrix::wrap_pi 2018-06-12 09:00:52 +02:00
Paul Riseborough c84d35e3d7 mc_pos_control: rework height limiter to stay in velocity mode 2018-06-09 13:38:04 +02:00
Paul Riseborough d26da5fa3b mc_pos_control: Improve maximum height limiter 
Implements a better method of determining when to switch from velocity to altitude control to keep height limit from being exceeded.
This method removes the overshoot and transients in height caused by the switching of the previous algorithm.
 2018-06-09 13:38:04 +02:00
Paul Riseborough f0a1cd197e mc_pos_control: formatting fixes 2018-06-09 13:38:04 +02:00
Paul Riseborough b77845a3c0 mc_pos_control: Fix bug in calculation of altitude limit 
The correction for stopping distance applied to the maximum altitude limiter uses the vertical velocity estimate and gives the same offset for both positive (down) and negative (up) velocity.
This calculation has been corrected and simplified and variable names changes to make the functionality clearer.
 2018-06-09 13:38:04 +02:00
Mohammed Kabir c1169eb38b mc_pos_control : update to use new navigation limits architechture 2018-06-09 13:38:04 +02:00
Mohammed Kabir b3c5e53333 Unify optical flow height limiting 2018-06-09 13:38:04 +02:00
Paul Riseborough 0113212b34 mc_pos_control: Update parameter descriptions 2018-06-09 13:38:04 +02:00
Paul Riseborough 0dc2377c2f mc_pos_control: format fixes 2018-06-09 13:38:04 +02:00
Paul Riseborough 2c325414f9 mc_pos_control: limit maximum height when reliant on optical flow data 2018-06-09 13:38:04 +02:00
Paul Riseborough 9028592c5f mc_pos_control: control height above ground when reliant on optical flow 2018-06-09 13:38:04 +02:00
Daniel Agar 222a91c6be mathlib delete Matrix, Quaternion, Vector 2018-05-23 17:27:09 -04:00
Daniel Agar 4e32cb17df clang-tidy modernize-use-equals-default 2018-05-18 22:48:55 +02:00
Beat Küng 13ab5ed0d0 px4_main_t: fix method declaration throughout the code base 
px4_main_t is defined as:
typedef int (*px4_main_t)(int argc, char *argv[]);
which matches with the definition in NuttX, given to task_create
 2018-05-09 07:59:46 +02:00
Daniel Agar 2e92484325 ecl update to latest master with separate libraries (#9406) 2018-05-03 23:48:09 -04:00
Daniel Agar ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Beat Küng 12e967173d MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1 
With the updated mixer (#9062) it's safe to set maximum thrust to 1 (in
both cases, if MC_AIRMODE is set, or not set).
So I see no reason to limit the maximum thrust.
 2018-04-26 14:37:48 +02:00
Beat Küng 90513e719e ASSERT: remove some inappropriate asserts 
Since assertions lead to crashes, we need better failure handling. In all
the cases in this patch, the assert is not required.

All the ones with the task id should be replaced with the module base
class.

Ah yes, and this reduces flash space, since the ASSERT macro will expand to
a printf that contains the source file name.
 2018-04-11 07:47:06 +02:00
Beat Küng 0eaa6222a2 flight tasks: refactor BlockParam -> Param and handle param updates 2018-04-11 07:47:06 +02:00
Beat Küng 2e620cf1d4 mc_pos_control: refactor BlockParam -> Param 2018-04-11 07:47:06 +02:00
Daniel Agar 735c5544ae tests add ctlmath and use float FLT_EPSILON 2018-04-09 02:23:26 -04:00
Dennis Mannhart 48fa3fbca3 PositionControl: thrust setpoint check with fabsf 2018-04-05 07:30:12 +02:00
Dennis Mannhart 26ffda5079 PositionControl: replace matrix length() method with simple dot-product to safe compuation 2018-04-05 07:30:12 +02:00
Dennis Mannhart 0c6c771620 ControlMath: remove unused methods 2018-04-05 07:30:12 +02:00
Dennis Mannhart 81da94ff46 PositionControl: Anti-windup that uses max in NE based on tilt limit and remaining throttle 
excess
 2018-04-05 07:30:12 +02:00
Matthias Grob f99471f34c PositionControl: refactor remove Data define for Vector 
This define results in super unreadable code.
 2018-04-05 07:30:12 +02:00
Matthias Grob 2405baa2c9 FlightTasks: fix manual mode takeoff 
With the new position control architercture manual mode and
potition mode run through the same logic and as a result
it had a throttle thershold for smooth takeoff also in
manual mode. This is fixed by by ignoring the threshold for
any mode which doesn't control the climb rate.
 2018-04-05 07:30:12 +02:00
Dennis Mannhart e15240d3ad FlightTask: only allow for position and alitude control without smoothing. 
This commit is only done to enable incremental testing of Flighttask.
 2018-04-05 07:30:12 +02:00
Matthias Grob dc60bc8766 mc_pos_control: enable flight tasks 
instantiate flight tasks and the refactored position controller class
only use the new functionality if a temporary parameter is set for testing
 2018-04-05 07:30:12 +02:00
Matthias Grob 0dcad42f57 mc_pos_control: refactor, indent control block 
individual commit for the indentation because otherwise
the diff gets unreadable. this indentation is made because
afterwards the entire legacy position control functionality
is in an else case.
 2018-04-05 07:30:12 +02:00
Matthias Grob 5ee136fe10 mc_pos_control: refactor, move landed thrust reduction into function 
and make it use matrix library for flight task compatibility

# Conflicts:
#	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2018-04-05 07:30:12 +02:00
Matthias Grob fabf214bca mc_pos_control: refactor, move smooth takeoff velocity into a function 
# Conflicts:
#	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2018-04-05 07:30:12 +02:00
Dennis Mannhart 88cf2aebc6 PositionControl: comment fix + unused parameter removal 2018-04-05 07:30:12 +02:00
Dennis Mannhart 03b3026e18 PositionControl: remove unused parameters 2018-04-05 07:30:12 +02:00
Dennis Mannhart 67900512ab PositionControl: remove legacy yaw logic 2018-04-05 07:30:12 +02:00
Dennis Mannhart ec79b2f8c8 ControlMath: don't consider sign when vector length is 0 2018-04-05 07:30:12 +02:00
Dennis Mannhart bd37c274c6 PositionControl: parameter naming fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart fc62df856d ControlMath: reference to by value 2018-04-05 07:30:12 +02:00
Matthias Grob f135e6dda0 FlightTasks: switch field name from thr to thrust + some code spacing 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6a639373ae PositionControl: set vel_dot to 0 if thrust setpoint is used 2018-04-05 07:30:12 +02:00
Dennis Mannhart 3d591f4f8c FlightTaskManualAltitude: thrust along xy depends on thrust along z direction 2018-04-05 07:30:12 +02:00