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28,696 Commits 852 Branches 161 Tags
3665bc59b82c0972628e152cb4b526a408711c5b
Commit Graph
1000 Commits
Author SHA1 Message Date
Daniel Agar 3665bc59b8 navigator initialize all mission items safely 2019-02-06 18:59:11 -05:00
Daniel Agar 26185f7c07 navigator orb subscribe/unsubscribe in constructor/destructor 2019-02-06 18:59:11 -05:00
Daniel Agar 1a4d31140e create example vehicle type build configs for fmu-v2 and fmu-v5 (#10963) 
- update navigator precision landing to build without multicopter
 2019-02-05 19:53:54 -05:00
Alessandro Simovic 5bcd7c0a0d Capitalizing/improving warning messages 2019-01-25 11:58:17 -05:00
Alessandro Simovic 0bb5345306 removed unnecessary new-lines 2019-01-25 11:58:17 -05:00
Alessandro Simovic 0c129274af Fixing a few headers 2019-01-25 11:58:17 -05:00
Matthias Grob be108a33f8 mission_params: remove MIS_YAWMODE reference 
This parameter was removed in d704a2d675 and should
not be referenced anymore.
 2019-01-23 22:08:32 +01:00
Daniel Agar 60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Julian Oes 5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Simone Guscetti 163d201c28 remove the landing gear from the attitude setpoint 
- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic
 2018-12-10 16:17:23 +01:00
Jake Dahl 21bcc0d2f4 mav_cmd_do_reposition now obeys the ground speed argument 2018-12-07 21:40:16 -05:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819) 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
 2018-11-21 20:32:40 -05:00
Mara Bos 10c20b38ad Fix many format strings. 
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
  (Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
 2018-10-27 12:44:51 +02:00
Beat Küng 86673ecfcb navigator: remove dependency on vtol module by using the C param API 
This is the quickest way to achieve the desired result.
Long-term we might do something else.
 2018-10-26 08:02:42 +02:00
Beat Küng b65871b433 fix reposition: set acceptance radius 
Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.
 2018-10-25 17:05:27 +02:00
CarlOlsson e6d378c9aa navigator: fix typo 2018-10-22 09:26:06 -04:00
Martina 18f4144e5a mission_block: when creating a triplet from a mission item use the default 
acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
 2018-10-09 12:01:45 -04:00
Martina 5a57e82072 navigator: clarify NaN return for get_yaw_acceptance 2018-09-24 11:23:01 +02:00
Martina b220e74219 navigator_main: add comment to explain yaw_acceptance usage 2018-09-24 11:23:01 +02:00
Martina 5b8ae9fb29 rename position_controller_status field from altitude_acceptance_radius 
to altitude_acceptance
 2018-09-24 11:23:01 +02:00
Martina fffb479edf navigator_main: use the altitude acceptance radius from the pos control if 
it is greater than the one in the mission item
 2018-09-24 11:23:01 +02:00
Martina 7031bb5a6d navigator: add yaw_acceptance getter to incorporate feedback from position 
controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
 2018-09-24 11:23:01 +02:00
Roman Bapst 8158cdfcf4 navigator: set yaw_valid flag in reposition triplet (#10294) 
- yaw_valid flag was always left at false which made the position controller reject the yaw setpoint of the reposition command
 2018-09-16 19:29:38 -04:00
Daniel Agar a6dabbbae7 Landing slope move to standalone library 
- this is shared by both the FW position controller and navigator's
   missiong feasibility checker
 2018-08-31 14:43:51 -04:00
Daniel Agar 5207c420c3 generic position controller status/feedback message 2018-08-31 14:43:51 -04:00
Philipp Oettershagen 334aa57a5f Fixed-wing autoland: Remove the dynamic altitude acceptance calculation and just use a simple separate landing altitude acceptance radius instead. This gives users that do not use LOITER-TO-ALT waypoints more control over their landing procedure 2018-08-24 10:13:07 -04:00
Philipp Oettershagen 20c02ae093 Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments. 2018-08-24 10:13:07 -04:00
Philipp Oettershagen ec4ccc1fcd Fixed-wing autoland: Use a more appropriate (i.e. mostly tighter) altitude acceptance radius than just the standard altitude acceptance parameter (which may be too large to allow a precise autoland) 2018-08-24 10:13:07 -04:00
dakejahl f62e89638f navigator: add yaw setpoint to rcloss state (#10291) 
This fixes the issue where the vehicle yaws in a seemingly random direction when RC is lost.
 2018-08-21 15:05:55 -04:00
dakejahl f7147653ab Navigator RTL: Removed the condition to transition straight to RTL_LAND if the previous setpoint was of type LAND. Not only does this not normally work, as the setpoints are cleared to invalid when navigator changes nav states, but the land lat/lon is set as home.lat and home.lot which is very wrong, as the vehicle would just beeline straight towards thatlocation. (#10252) 2018-08-16 18:08:46 -04:00
Beat Küng c0cac0594e file paths: add PX4_STORAGEDIR & use it where appropriate 2018-08-08 21:09:39 +02:00
Alessandro Simovic aad1ff0209 mission_block: explicit type conversion 2018-08-06 16:17:11 +02:00
Alessandro Simovic b527187a10 mission_block: swapped "param6" for "altitude" for consistency 2018-08-06 16:17:11 +02:00
Alessandro Simovic 337133e9fa use double LAT/LONG fields instead of float params for storing ROI settings 2018-08-06 16:17:11 +02:00
Dennis Mannhart d704a2d675 mission_param: remove MIS_YAWMODE 2018-08-03 08:24:34 +02:00
Dennis Mannhart c76621bdb2 RLT: set yaw to current yaw during climb 2018-08-03 08:24:34 +02:00
Dennis Mannhart 998a95db55 mission.h: remove MIS_YAWMODE 2018-08-03 08:24:34 +02:00
Dennis Mannhart e61131cf9c mission heading_sp_update: remove everthing except of MC and ROI logic. 2018-08-03 08:24:34 +02:00
Dennis Mannhart a3ca016c1d loiter.h: remove yawmode param 2018-08-03 08:24:34 +02:00
Dennis Mannhart f0140a6290 loiter: remove yaw_mode param and logic 2018-08-03 08:24:34 +02:00
TSC21 ca42483794 update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files 2018-07-30 21:40:28 +02:00
Jake Dahl 57dfcee842 added a check for not maybe_landed upon takeoff 2018-07-26 07:49:14 +02:00
Jake Dahl 4144a53cd6 added a check to ensure the current position setpoint is valid 2018-07-26 07:46:24 +02:00
Jake Dahl a1ff4a8a67 removed unneccessary includes, eliminated namespace on math, changed date 
changed a comment

reverted a file back to master
 2018-07-26 07:46:24 +02:00
Jake Dahl 21db15ff4f If already in landing, go straight to state RTL_LAND. Also cleaned up the comments 2018-07-26 07:46:24 +02:00
Jake Dahl 130cdf25bf prevent RTL if already landing 2018-07-26 07:46:24 +02:00
Jake Dahl 7c84e77312 we used to check if we have actually landed not mission reached in navigator 2018-07-26 07:45:00 +02:00
Philipp Oettershagen 79f172eb92 Navigator: Fix fixed-wing first order altitude hold (#9850) 
i.e. the altitude reference oscillations caused by it in LOITER mode
 2018-07-15 23:54:08 -04:00
Daniel Agar cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Thomas Stastny 8551d2eb9d mission feasibility: add small tolerance to fw landing slope alt 2018-06-29 12:10:53 +00:00