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Commit Graph

152 Commits

Author SHA1 Message Date
Julian Oes 6a6b8d49fc msg: re-use manual_control_input in setpoint 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
 2021-11-09 16:05:25 +01:00
JaeyoungLim 031f7f831b Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers (#18503) 
* Handle VTOL transition waypoints outside FW auto control modes
 2021-11-08 11:21:08 +01:00
Jaeyoung-Lim 6a2ebfc0cc Handle setpoint types properly for fixedwing position control 
Handle setpoint types properly for fixedwing position control
 2021-11-07 19:21:00 -05:00
Silvan Fuhrer dbd9b88bea FW position controller: only allow switching to AUTO_ALTITDUE or AUTO_CLIMBRATE if pos_sp_curr_valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-07 23:31:21 +01:00
RomanBapst 924298e9c3 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 6e75b7cffd FixedWingPositionControl: push altitude setpoint locking into TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Silvan Fuhrer b77487d69c Fixed-wing Position controller: add modes for auto altitude and auto descend 
- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
Silvan Fuhrer e715e6c245 Fixed-wing position control: set yaw_sp to yaw_current instead of nav_bearing when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer b53808d11b fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 14:35:00 +03:00
Silvan Fuhrer 4b21c0c49e Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00
RomanBapst d84b0296d2 support orbit command in fixed wing mode 
Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander: support orbit mode for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FwPositionControl: publish orbit status

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander:reject orbit mode while doing a vtol transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FixedWingPositionControl: explicitly cast waypoint for Orbit status

FixedwingPositionControl: fill missing orbit_status fields

navigator_main: handle reposition/orbit corner cases

- set orbit rotation direction correctly
- send mavlink message when orbit is rejected

FixedWingPositionControl: correctly report rotation direction in orbit_status

navigator: hack to not break orbit while doing altitude changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

navigator: set cruise throttle for orbit command

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-25 09:48:27 +02:00
Jaeyoung-Lim 4535b18a80 Set setpoint type as const 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 07d72f8604 Fix comments 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 443666199e Move setmode outside of control_position 
This commit moves the position controller mode handling outside of the control_position method.

The control_method is renamed to control_auto
 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim ae9e91f90c FW Pos controller: fix format in new switch 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer c3e961a1ed FW Pos C: move setting of control_mode_current to separate function and minor clean ups 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Silvan Fuhrer 0cf3ef87e3 FW Position Controller: move nav_speed_2d calculation to function 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-14 11:18:02 +02:00
Jaeyoung-Lim 581ec224be Encapsulate loiter and position setpoint handling 
This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
 2021-10-14 11:18:02 +02:00
RomanBapst 8f8304f31e FixedWingPositionController: Set l1 variables to NAN if no l1 guidance 
took place

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-11 16:41:42 +02:00
Daniel Agar 4be45229bf fw_pos_control_l1: fix launch detector dt update 
- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
 2021-10-08 17:34:14 -04:00
Silvan Fuhrer 98c7f664c1 FW Position control: add roll slewrate also in manual Position flight mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-05 18:06:49 -04:00
Thomas Stauber 983dd4db29 don't switch to SETPOINT_TYPE_LOITER during transitions (#18350) 2021-10-05 14:40:14 +02:00
Beat Küng 5fb16e4395 fw_pos_control_l1: switch to events 2021-09-11 14:08:41 -04:00
Pieter-Jan Dewitte 155d3c7d36 FW pos control: fix airspeed input constaining 2021-06-21 10:55:21 +02:00
RomanBapst ad9288536b TECS: enable direct height-rate control 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst f6de99d42e FixedWingPositionControl: control only height rate when using pitch stick 
in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst 19449a4e75 FixedWingPositionControl: use target climb/sink rate parameters as maximum 
rates in manual altitude controlled modes

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst a5cc449e69 tecs: propagate altitude setpoint based on target climb/sink rate 
- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst b06b46b224 log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-31 23:56:23 +02:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
Silvan Fuhrer bf311ed77d addressed review comments (fixes in error message and comments) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Silvan Fuhrer 63a53d48e7 FW Position controller: improve parameter sanity checks (provide more feedback) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-10 13:43:05 +02:00
Daniel Agar 29d4ad1848 fw_pos_control_l1: OFFBOARD fully populate position_setpoint_triplet 2021-03-16 00:58:04 -04:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
Daniel Agar d0c9a5fc93 OFFBOARD mode architecture overhaul (#16739) 
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
 2021-03-05 09:39:46 -05:00
Lorenz Meier 548e070b91 FW pos control: Robustify for throttle scaling 
PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
 2021-02-14 11:17:28 +01:00
Daniel Agar 1981519aad L1 position controller: use double precision floating point for all lat/lon 2021-02-12 21:59:56 +01:00
Silvan Fuhrer 31a6edff07 Fixed-wing: remove roll offset param (FW_RSP_OFF) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Silvan Fuhrer a70cf950f4 fw_pos_control_l1: apply pitch setpoint offset centrally 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-12 13:57:15 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
Daniel Agar d1dfa26903 consume all available queued vehicle_commands 2021-01-26 12:00:18 -05:00
Silvan Fuhrer 92f2043d8b TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
Silvan Fuhrer 5e32e9be5a TECS: rename variables and methods to make clear which are EAS and which TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
RomanBapst f05599caff tecs: use speed derivative provided by local position 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer dca89763b3 TECS: apply FW_LND_THRTC_SC to altitude error time constant 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 01f891618b TECS: move to new control loop architecture 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 447e14906c TECS: log more TECS states to enable better analysis 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d0e8b882a2 TECS: added alpha filter classes to energy rate and tas derivative 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00