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10687 Commits

Author SHA1 Message Date
stmoon
3ec37aa186 clarify the codes of LPE 2018-04-08 11:13:47 -04:00
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
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
cf48ceb428 Revert "Subscription remove unused instance class member" 
This reverts commit cf2d794da9026dfe7ba2cd746e767fddaf4666e3.
 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
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
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
fc62df856d ControlMath: reference to by value 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
Alessandro Simovic
f8e4e82bba snapdragon: Applied camelCasing 2018-04-05 07:30:12 +02:00
Alessandro Simovic
50c1eba392 snapdragon: fixed compiler shadow warning, function name was identical as a variable name 2018-04-05 07:30:12 +02:00
Alessandro Simovic
cc41d8ccab snapdragon: added missing includes 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6a639373ae PositionControl: set vel_dot to 0 if thrust setpoint is used 2018-04-05 07:30:12 +02:00
Dennis Mannhart
3d591f4f8c FlightTaskManualAltitude: thrust along xy depends on thrust along z direction 2018-04-05 07:30:12 +02:00
Dennis Mannhart
85a263c7bd vehicle local position setpoint: use array for thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
a74c1116ee mc_pos_control/PositionControl: enable thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
0ca823eb30 PositionControl: remove thrust as state; add thrust setpoint support 2018-04-05 07:30:12 +02:00
Dennis Mannhart
7a4796a6e3 rename TranslationControl to PositionControl 2018-04-05 07:30:12 +02:00
Dennis Mannhart
b4d56ed51a mc_pos_control: publish yaw_move_rate 2018-04-05 07:30:12 +02:00
Dennis Mannhart
1cad36efb9 ControlMath: use sign for direction 2018-04-05 07:30:12 +02:00
Dennis Mannhart
b0b72e63e7 TranslationControl: remove throttle 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6a4e3bb94e TranslationControl: update comments 2018-04-05 07:30:12 +02:00
Dennis Mannhart
8da2ff4d77 mc_pos_control: set local position setpoint message for idle; for logging purpose, 
always send local position setpoint when in air
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ac4379d13f TranslationControl: initialize with default constructor 2018-04-05 07:30:12 +02:00
Dennis Mannhart
e1ab31a5fc TranslationControl: replace matrix::Vector3f with Data 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ddecb4d3a4 teest_controlmath: incomplete set of thrust to attitude tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart
bcbd3dc527 ControlMath: thrust to attitude method (legacy method) 2018-04-05 07:30:12 +02:00
Dennis Mannhart
adcb2b9ca8 TranslationControl: index fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
840247251d ControlMath: sign fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
09bf73945a ControlMath: rename namespace to file name 2018-04-05 07:30:12 +02:00
Dennis Mannhart
3b8c718971 TranslationControl: rename variable 2018-04-05 07:30:12 +02:00
Dennis Mannhart
2a544cee43 TranslationControl: use reference insteady of by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ded8675dae ControlMath: change description name 2018-04-05 07:30:12 +02:00
Dennis Mannhart
5fbee9fce9 ControlMath tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart
03c81a8948 ControlMath: never saturate in xy when vector is below minimum 2018-04-05 07:30:12 +02:00