3ec37aa186
clarify the codes of LPE
2018-04-08 11:13:47 -04:00
f1f72c70e0
commander: immediately publish kill switch state change
2018-04-06 11:29:49 +02:00
d025eb0da0
explaining why we send 30 bytes crtp msg data instead of 31
2018-04-05 18:11:03 +02:00
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
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
48fa3fbca3
PositionControl: thrust setpoint check with fabsf
2018-04-05 07:30:12 +02:00
26ffda5079
PositionControl: replace matrix length() method with simple dot-product to safe compuation
2018-04-05 07:30:12 +02:00
0c6c771620
ControlMath: remove unused methods
2018-04-05 07:30:12 +02:00
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
f99471f34c
PositionControl: refactor remove Data define for Vector
...
This define results in super unreadable code.
2018-04-05 07:30:12 +02:00
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
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
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
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
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
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
cf48ceb428
Revert "Subscription remove unused instance class member"
...
This reverts commit cf2d794da9
2018-04-05 07:30:12 +02:00
88cf2aebc6
PositionControl: comment fix + unused parameter removal
2018-04-05 07:30:12 +02:00
03b3026e18
PositionControl: remove unused parameters
2018-04-05 07:30:12 +02:00
67900512ab
PositionControl: remove legacy yaw logic
2018-04-05 07:30:12 +02:00
ec79b2f8c8
ControlMath: don't consider sign when vector length is 0
2018-04-05 07:30:12 +02:00
bd37c274c6
PositionControl: parameter naming fix
2018-04-05 07:30:12 +02:00
fc62df856d
ControlMath: reference to by value
2018-04-05 07:30:12 +02:00
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
2018-04-05 07:30:12 +02:00
f8e4e82bba
snapdragon: Applied camelCasing
2018-04-05 07:30:12 +02:00
50c1eba392
snapdragon: fixed compiler shadow warning, function name was identical as a variable name
2018-04-05 07:30:12 +02:00
cc41d8ccab
snapdragon: added missing includes
2018-04-05 07:30:12 +02:00
6a639373ae
PositionControl: set vel_dot to 0 if thrust setpoint is used
2018-04-05 07:30:12 +02:00
3d591f4f8c
FlightTaskManualAltitude: thrust along xy depends on thrust along z direction
2018-04-05 07:30:12 +02:00
85a263c7bd
vehicle local position setpoint: use array for thrust setpoint
2018-04-05 07:30:12 +02:00
a74c1116ee
mc_pos_control/PositionControl: enable thrust setpoint
2018-04-05 07:30:12 +02:00
0ca823eb30
PositionControl: remove thrust as state; add thrust setpoint support
2018-04-05 07:30:12 +02:00
7a4796a6e3
rename TranslationControl to PositionControl
2018-04-05 07:30:12 +02:00
b4d56ed51a
mc_pos_control: publish yaw_move_rate
2018-04-05 07:30:12 +02:00
1cad36efb9
ControlMath: use sign for direction
2018-04-05 07:30:12 +02:00
b0b72e63e7
TranslationControl: remove throttle
2018-04-05 07:30:12 +02:00
6a4e3bb94e
TranslationControl: update comments
2018-04-05 07:30:12 +02:00
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
ac4379d13f
TranslationControl: initialize with default constructor
2018-04-05 07:30:12 +02:00
e1ab31a5fc
TranslationControl: replace matrix::Vector3f with Data
2018-04-05 07:30:12 +02:00
ddecb4d3a4
teest_controlmath: incomplete set of thrust to attitude tests
2018-04-05 07:30:12 +02:00
bcbd3dc527
ControlMath: thrust to attitude method (legacy method)
2018-04-05 07:30:12 +02:00
adcb2b9ca8
TranslationControl: index fix
2018-04-05 07:30:12 +02:00
840247251d
ControlMath: sign fix
2018-04-05 07:30:12 +02:00
09bf73945a
ControlMath: rename namespace to file name
2018-04-05 07:30:12 +02:00
3b8c718971
TranslationControl: rename variable
2018-04-05 07:30:12 +02:00
2a544cee43
TranslationControl: use reference insteady of by value
2018-04-05 07:30:12 +02:00
ded8675dae
ControlMath: change description name
2018-04-05 07:30:12 +02:00
5fbee9fce9
ControlMath tests
2018-04-05 07:30:12 +02:00
03c81a8948
ControlMath: never saturate in xy when vector is below minimum
2018-04-05 07:30:12 +02:00
stmoon