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30,048 Commits 852 Branches 161 Tags
3bdfd8ce8de2fa4195a5b8b457ec8b4d578330d3
Commit Graph
1985 Commits
Author SHA1 Message Date
bresch 67c0846068 Vel smooth - Improve position lock/unlock detection 2018-11-06 22:17:00 +01:00
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
bresch 84665672ad Vel smooth - Change jerk scheduling strategy 2018-11-06 22:17:00 +01:00
bresch ab7e4436b3 Vel smooth - Add Z trajectory 2018-11-06 22:17:00 +01:00
Beat Küng 787d82c9e6 VelocitySmoothing: simplify the API & fix style 2018-11-06 22:17:00 +01:00
Beat Küng d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
bresch 22780efcd0 Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between. 2018-11-06 22:17:00 +01:00
Beat Küng 86463e4ec7 Flight Tasks: add new trajectory smoothing flight task & library 
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
 2018-11-06 22:17:00 +01:00
James Goppert c642025339 vehicle_attitude only based yaw control fix (#10803) 
* Add attitude sub to mc_pos_control for yaw usage.

* Initialize pos control _states struct.

* Remove unnecessary init for struct in mc pos ctrl.

* Only use att topic for yaw setting in FlightTask.
 2018-11-06 12:03:13 -05:00
Roman 40884a9238 FlightTaskTransition: added missing override 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Roman fea309b606 added a flighttask for automatic vtol transitions 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Daniel Agar 7caf9803ed delete unimplemented SENSORIOCRESET IOCTL 2018-11-06 07:43:43 +08:00
Daniel Agar d2ed091a1d delete IOCTL SENSOR_POLLRATE_MAX 
- only SENSOR_POLLRATE_DEFAULT is needed
 2018-11-06 07:43:43 +08:00
Daniel Agar 556a9422b5 delete IOCTL SENSOR_POLLRATE_MANUAL 
- only used in self tests
 2018-11-06 07:43:43 +08:00
Daniel Agar 8dfd55fc9e delete unused IOCTL SENSORIOCGPOLLRATE 2018-11-06 07:43:43 +08:00
Daniel Agar 85c2b6307c delete unused IOCTL AIRSPEEDIOCGSCALE 2018-11-06 07:43:43 +08:00
Daniel Agar f59f0d4b2d delete unused IOCTL SENSOR_POLLRATE_EXTERNAL 2018-11-06 07:43:43 +08:00
Jake Dahl 7fb73ae2c0 made init() a public function in posix I2C 2018-11-01 10:49:26 -04:00
Jake Dahl d71fc31d8b added an SMBus base class 2018-11-01 10:49:26 -04:00
Lukas Woodtli a7d297ed57 Fix division by zero and cast of to big floats to int 2018-10-28 16:54:36 +01:00
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 294af5daad LowPassFilter2p: fix _cutoff_freq <= 0 (disabled filter) 
If the filter was disabled, the apply() would always return 0.
 2018-10-24 20:43:42 +02:00
Daniel Agar 297c1b777b mathlib LowPassFilter2p sync with LowPassFilter2pVector3f 2018-10-20 10:34:02 -04:00
Daniel Agar ac85230700 mathlib: add Vector3f low pass filter 2018-10-20 10:34:02 -04:00
PX4 Build Bot 7b2418289f Update submodule ecl to latest Thu Oct 18 12:37:31 UTC 2018 
- ecl in PX4/Firmware (bd71d1cd9e1e1d29f89351c43f879e6c49b727bc): https://github.com/PX4/ecl/commit/f240eaa5b089c50b957a3ab61aeb722ea57dccd9
    - ecl current upstream: https://github.com/PX4/ecl/commit/10a0fef7b7db749f5baf3384e9c900d3aa0e8140
    - Changes: https://github.com/PX4/ecl/compare/f240eaa5b089c50b957a3ab61aeb722ea57dccd9...10a0fef7b7db749f5baf3384e9c900d3aa0e8140

    10a0fef 2018-10-18 jie.zhang - EKF/control: remove unnecessary yaw_align update
8bbaf89 2018-10-17 Daniel Agar - EKF add new simple setIMUData() interface (#512)
e6cd6ef 2018-09-03 Paul Riseborough - EKF: Fix bug preventing  use of flow sensors without gyros
2c3a064 2018-09-18 Daniel Agar - README.md update Jenkins build status icon and url
 2018-10-18 11:16:36 -04:00
Paul Riseborough 18f0812b33 ecl: Use master with pr-ekfGpsYaw changes merged 2018-10-17 09:48:38 -04:00
Dennis Mannhart e7e49d5b3c FlightTask don't require vehicle-local-positiion topic 2018-10-16 17:06:12 +02:00
Jake Dahl d3b54c3599 more changes based on suggestions 2018-10-16 09:45:28 +02:00
Jake Dahl 985c5f4d73 changed I2C init() to a public function. Removed init() from constructor of SMBus base class 2018-10-16 09:45:28 +02:00
Jake Dahl e0e411ea07 additional improvements 2018-10-16 09:45:28 +02:00
Jake Dahl ad567fa537 I should really compile before pushing, fixed a scoping error on int result 2018-10-16 09:45:28 +02:00
Jake Dahl 1e1268f84b missed a return of result 2018-10-16 09:45:28 +02:00
Jake Dahl b2482b0e43 made changes based on reviewer feedback. Also added a bool option for block_read and block_write PEC, as some devices may not use the PEC 2018-10-16 09:45:28 +02:00
Jake Dahl e5b2286756 added an SMBus base class 2018-10-16 09:45:28 +02:00
Dennis Mannhart ff45ee67b4 FlightTasks: remove empty line 2018-10-10 10:30:48 -04:00
Dennis Mannhart c3ba2687ac FlightTask: if not in air, reActivate the task which will set the setpoints to current 
vehicle state.
 2018-10-10 10:30:48 -04:00
Dennis Mannhart 6212e9c752 FlightTaskManualAltitude: use stick inputs for the brake check 2018-10-09 12:05:52 -04:00
Martina 280cb34a77 FlightTaskAuto: replace NAV_ACC_RAD with acceptance radius from triplet 2018-10-09 12:01:45 -04:00
Beat Küng 48f5f8faa5 mc pos control: add MPC_THR_CURVE param 
The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.
 2018-10-09 12:09:07 +02:00
Beat Küng dae7c56109 ManualSmoothing{XY,Z}: remove unused include 2018-10-04 15:09:02 +02:00
Beat Küng e23382c6da FlightTaskManualAltitude: call FlightTaskManualStabilized::_updateHeadingSetpoints() directly 
Instead of calling _updateSetpoints(), that also sets the thrust setpoint,
which is then overwritten again.
 2018-10-04 15:09:02 +02:00
Beat Küng 206baa7432 Flight tasks: avoid using *= for scalar to vector assignment 
It's confusing and there is a corner case where the result is incorrect:
*= 0 will not set the variable to 0 if it's already NAN.
 2018-10-04 15:09:02 +02:00
Beat Küng bb756e0e12 FlightTaskAuto: remove unnecessary brackets in switch case statements 2018-10-04 15:09:02 +02:00
Beat Küng 6c34407d57 version: rebase fixes & add bbblue 2018-10-03 10:30:10 +02:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Matthias Grob ada0179cda matrix lib: update to latest version 2018-10-01 08:10:21 -04:00
Daniel Agar b83cb79596 Update submodule DriverFramework to latest Sun Sep 30 08:37:23 EDT 2018 (#10604) 
- DriverFramework in PX4/Firmware (1ce7e8d89a16262afe07d7487e55a2ec05985627): https://github.com/PX4/DriverFramework/commit/721ace3e797f141f0950144bace6a30f6aa1325a
    - DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/9f456acb3c8d70df3cd8906123388935dd6303f6
    - Changes: https://github.com/PX4/DriverFramework/compare/721ace3e797f141f0950144bace6a30f6aa1325a...9f456acb3c8d70df3cd8906123388935dd6303f6

    9f456ac 2018-09-30 Bart Slinger - Increase DriverFramework priority to SCHED_PRIORITY_MAX
 2018-09-30 10:28:52 -04:00