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16709 Commits

Author SHA1 Message Date
Beat Küng f1f72c70e0 commander: immediately publish kill switch state change 2018-04-06 11:29:49 +02:00
barzanisar d025eb0da0 explaining why we send 30 bytes crtp msg data instead of 31 2018-04-05 18:11:03 +02:00
barzanisar 7ac3c97aad Improve the Crazyflie MAVLink tunnel to increase efficiency 
This change fragments MAVLink packets more efficiently and therefore increases the net throughput. This in turn makes the connection significantly more stable and the Crazyflie experience overall more usable.
 2018-04-05 18:11:03 +02:00
Roman d6a86dfa56 tailsitter: do not condition transition on airspeed if airspeed disabled 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-05 08:48:36 +02:00
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
Matthias Grob 4bf33339dc FlightTaskManualStabilized: remove double limit of yawspeed 
The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
 2018-04-05 07:30:12 +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
Matthias Grob 309237c4a2 FlightTasks: replace setpoint setters with members 
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
 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
Matthias Grob 8b4471d842 FlightTasks: comment out mavlink command processing 
because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
 2018-04-05 07:30:12 +02:00
Matthias Grob cf48ceb428 Revert "Subscription remove unused instance class member" 
This reverts commit cf2d794da9.
 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 421aeb69d8 FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based 
on vehicle rotation in yaw
 2018-04-05 07:30:12 +02:00
Dennis Mannhart ab8527cc8f FlightTaskManualStabilized: limit manual yaw rate in flighttask 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 017576262c FlightTaskManual: replace yaw with yaw_sp for rotation 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 59bddf339a ManualSmoothingXY: brake with large default jerk max 2018-04-05 07:30:12 +02:00
Dennis Mannhart 25c33d18b0 FlightTaskSport: just scale velocity septoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart fc62df856d ControlMath: reference to by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart 16d6ac6ad1 FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly 2018-04-05 07:30:12 +02:00
Dennis Mannhart 7f406aa251 FlightTaskManualSmoothingZ: remove empty space 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6538a7e88c FlightTaskSport: replace rotation by axis angle 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5bd2afa7be FlightTaskManualPositionSmooth: remove unused mehthods and member variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart d6fe2159ae FlightTaskManualPosition: remove update method and old member variable setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart a7f4859698 FlightTaskManualAltitudeSmooth: remove unused member methods/variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart c15b114cad FlightTaskManualAltitude: remove member setpoints and update method 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4b49b0ed7a FlightTaskManualStabilized: update method that sets all member setpoints 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
Dennis Mannhart 2e9cb659c9 FlightTaskManual: method to reset all members setpoints to NAN 2018-04-05 07:30:12 +02:00
Dennis Mannhart 52eeb02549 empty setpoint add NAN for thrust, add comment 2018-04-05 07:30:12 +02:00
Dennis Mannhart fb2ce062e4 FlightTask: rebse fix for empty setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart f2f5f41641 FlightTaskManualSmoothing: change name of method 2018-04-05 07:30:12 +02:00
Dennis Mannhart 01073d36e5 FlightTaskManualPosition: use axis angle to rotate into world frame 2018-04-05 07:30:12 +02:00
Matthias Grob d22af4679d FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold 2018-04-05 07:30:12 +02:00
Matthias Grob 6fb9ca3b0c FlightTasks: corrected comment and sorted out unnecessary includes 2018-04-05 07:30:12 +02:00
Matthias Grob e1a81c7978 FlightTaskManual: remove unnecessary activate method 2018-04-05 07:30:12 +02:00
Matthias Grob e8cc93ec23 FlightTasks: create enumeration type for the task index while still offering integer index with checks 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