Dennis Mannhart
e408870857
FlightTaskManual: remove unused override
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
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
547cdc051c
FlightTask: apply gear switch depending on task
2018-07-20 09:26:18 +02:00
Beat Küng
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
Matthias Grob
eaf4f99e38
FlightTasks: adapt tasks to member setpoints
...
The FlightTaskManual... tasks already had their internal
setpoint member variables. I switched them to use the
architecture with setpoint member variables as it was
implemented the commit before. They simplify a lot.
2018-04-05 07:30:12 +02:00
Dennis Mannhart
2db2ef824b
FlightTaskManual: move all setpoints into base class
2018-04-05 07:30:12 +02:00
Matthias Grob
e1a81c7978
FlightTaskManual: remove unnecessary activate method
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ad2c16c0ba
FlightTaskManual: remove #include px4_defines.h
2018-04-05 07:30:12 +02:00
Dennis Mannhart
3b4870b2c2
FlightTaskManual: define as abstract class
2018-04-05 07:30:12 +02:00
Dennis Mannhart
4b856717b7
FlightTaskManual: replace hold_dz with stick_dz
2018-04-05 07:30:12 +02:00
Dennis Mannhart
720271332d
FlightTaskManual/Alt/Position: update comments
2018-04-05 07:30:12 +02:00
Dennis Mannhart
55b6f19367
FlightTaskManual: remove stick_deadzone because base class already has it.
...
Remove deadzone check for vel in xy/z because expo already contains deadzone
2018-04-05 07:30:12 +02:00
Dennis Mannhart
cd1e01d5a0
FlightTaskManual: add px4_defines
2018-04-05 07:30:12 +02:00
Dennis Mannhart
e076825d78
FlightTaskManual: remove everything except of stick mapping
2018-04-05 07:30:12 +02:00
Matthias Grob
2b6e356c91
FlightTaskManual: fix for the sideways oscillations in fast foward flight when using the vehicle yaw estimate
2018-04-05 07:30:12 +02:00
Matthias Grob
37e0f91c39
FlightTaskSport: scale maximal stick input to maximal allowed velocity instead of being hardcoded for testing
2018-04-05 07:30:12 +02:00
Matthias Grob
975ac11635
mc_pos_control: enable yawspeed execution for tasks
2018-04-05 07:30:12 +02:00
Matthias Grob
a896332746
FlightTaskManual: fixed stick vector index bug and enabled basic yaw setpoint control
2018-04-05 07:30:12 +02:00
Matthias Grob
de872ca047
FlightTaskManual: remove the smoothing from the task to add it later in a child class
...
also separated the velocity scaling to enable sport mode
2018-04-05 07:30:12 +02:00
Matthias Grob
4d0dca5dd5
FlightTask: make applyCommandParameters getting called recursively & pass command by reference
2018-04-05 07:30:12 +02:00
Matthias Grob
efd240904f
FlightTasks: added possibility to apply task parameters from the vehicle command
2018-04-05 07:30:12 +02:00
Matthias Grob
6ec9ff64d1
FlightTaskManual/Orbit: make sure we are not required stick input data during orbit
2018-04-05 07:30:12 +02:00
Matthias Grob
e5d237088c
FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
2018-04-05 07:30:12 +02:00
Matthias Grob
888a63c001
FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
2018-04-05 07:30:12 +02:00
Matthias Grob
1906b5b635
FlightTasks: remove all remaining unnecessary semicolons
2018-04-05 07:30:12 +02:00
Beat Küng
b0fdbf5136
FlightTask: inherit from Block instead of SuperBlock
...
I think this is more how it's meant to be
2018-04-05 07:30:12 +02:00
Beat Küng
9b571abb47
FlightTasks: add SubscriptionArray class that contains all subscriptions
...
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
2018-04-05 07:30:12 +02:00
Beat Küng
b5ecf9824d
flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations
...
In addition, we will need some shared data structure for the uorb
subscriptions.
2018-04-05 07:30:12 +02:00
Matthias Grob
e597a9c0a1
FlightTasks: fix review comments
2018-04-05 07:30:12 +02:00
Matthias Grob
23fe822955
FlightTasks: private variables follow underscore name convention, member description comments doxygen style
2018-04-05 07:30:12 +02:00
Matthias Grob
92acbfde3e
FlightTasks: FlightTask definition to cpp, fix include chain, fix cmake
2018-04-05 07:30:12 +02:00
Matthias Grob
c211c807ad
FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library
2018-04-05 07:30:12 +02:00
Matthias Grob
d48ba8be72
FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
2018-04-05 07:30:12 +02:00
Matthias Grob
edd5ed1349
FlightTaskManual: remove unnecessary subscription which is deprecated anyways
2018-04-05 07:30:12 +02:00
Matthias Grob
76a0b9f736
FlightTaskManual: Smooth flight integration: refactored and checked get_acceleration_z
2018-04-05 07:30:12 +02:00
Matthias Grob
6fb4c79234
FlightTaskManual: Smooth flight integration: refactored and checked second half of get_acceleration_xy executing the intention
2018-04-05 07:30:12 +02:00
Matthias Grob
42708ea456
FlightTaskManual: Smooth flight integration: refactored and checked first half of get_acceleration_xy determining the xy user intention
2018-04-05 07:30:12 +02:00
Matthias Grob
56b54d7b85
FlightTaskManual: Smooth flight integration: prepare interface of acceleartion methods for xy and z
2018-04-05 07:30:12 +02:00
Matthias Grob
634a67d058
FlightTaskManual: Smooth flight integration: slewrate now works, set to 0.2m/s^2 in all dimensions for testing
2018-04-05 07:30:12 +02:00
Matthias Grob
0d8d24e36d
FlightTaskManual: Smooth flight integration: replace all "dt"s with the local _deltatime
2018-04-05 07:30:12 +02:00
Matthias Grob
1f65717292
FlightTaskManual: Smooth flight integration: Make vel_sp_slewrate without any refactoring compile
...
analyzing detailed semantic and external uses of the variables still necessary
2018-04-05 07:30:12 +02:00
Matthias Grob
1b858f5e56
FlightTaskManual: Smooth flight integration: Copy over vel_sp_slewrate without any changes
2018-04-05 07:30:12 +02:00
Matthias Grob
5854fa06e9
FlightTaskManual: Smooth flight integration: Make set_manual_acceleration_z without any refactoring compile
...
analyzing detailed semantic and external uses of the variables still necessary
2018-04-05 07:30:12 +02:00
Matthias Grob
316e85f7ef
FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_z without any changes
2018-04-05 07:30:12 +02:00
Matthias Grob
cb096861d9
FlightTaskManual: Smooth flight integration: Make set_manual_acceleration_xy without any refactoring compile
...
analyzing detailed semantic and external uses of the variables still necessary
2018-04-05 07:30:12 +02:00
Matthias Grob
e6442c7a7c
FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_xy without any changes
2018-04-05 07:30:12 +02:00
Matthias Grob
6c0e7654ed
FlightTasks: added handling for switching to the already active task and success feedback
...
removed and added comments
2018-04-05 07:30:12 +02:00
Matthias Grob
018581faca
FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly
2018-04-05 07:30:12 +02:00
Matthias Grob
4d05193ad7
FlightTasks: switched to a block hierarchy with parameter names like TSK_ORB_RADIUS in mind
2018-04-05 07:30:12 +02:00
Dennis Mannhart