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Author SHA1 Message Date
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 1f0d559d65 PositionControl: check and set _skip_controller flag at the end of the setpoint update 2018-10-10 10:29:46 -04:00
Dennis Mannhart 2f833a26d1 mc_pos_control: check if position-control setpoint update succeeded. 
refactor use_obstacle_avoidance method
 2018-10-10 10:29:46 -04:00
Dennis Mannhart 6212e9c752 FlightTaskManualAltitude: use stick inputs for the brake check 2018-10-09 12:05:52 -04:00
Dennis Mannhart 3ff8cd33a1 mc_pos_control: smooth takeoff requires current position as reference 2018-08-28 10:14:54 +02:00
Dennis Mannhart a9d83b77de ControlMath: math optimization 2018-08-15 16:19:51 +02:00
Dennis Mannhart d94778dd94 test_controlmath: replace FLT_EPSILON with 10^-6 2018-08-15 16:19:51 +02:00
Dennis Mannhart caa773008a PositionControl: degrees to radians 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4761f0a344 PositionControl: bug fix Pv replacement with Pp 2018-07-20 09:26:18 +02:00
Dennis Mannhart 83f6398e93 ControlMath: comments refactor 2018-07-20 09:26:18 +02:00
Dennis Mannhart 19743bcaec FlightTaskAuto: comments refactor 2018-07-20 09:26:18 +02:00
Dennis Mannhart c01fab089a PositionControl parameter renaming. Use the the name as stored in the metadata 2018-07-20 09:26:18 +02:00
Dennis Mannhart cf59c2a2ac PositionControl/mc_pos_control: update comments 2018-07-20 09:26:18 +02:00
Dennis Mannhart 673945f28b PositionControl: check if constraints are below global maximum 2018-07-20 09:26:18 +02:00
Dennis Mannhart 1cde38f82f FlightTaskAuto: always update yaw 2018-07-20 09:26:18 +02:00
Dennis Mannhart 29391acbca FlightTaskAutoLine: fix greater sign 2018-07-20 09:26:18 +02:00
Dennis Mannhart 60a9b45c88 Positioncontrol: limit velocity upwards during smooth takeoff 2018-07-20 09:26:18 +02:00
Dennis Mannhart 0f4eb8e766 PositionControl: add integral reset methods 2018-07-20 09:26:18 +02:00
Dennis Mannhart 65a9cd171f PositionControl: variable replacement 2018-07-20 09:26:18 +02:00
Dennis Mannhart e2ac12ef2c FlightTask: comment fixes 2018-07-20 09:26:18 +02:00
Dennis Mannhart c6b5731086 test_controlmath: add first few tests for constrain function in xy 2018-07-20 09:26:18 +02:00
Dennis Mannhart c60481614e ControlMath constrainxy: fix one of the condition 2018-07-20 09:26:18 +02:00
Dennis Mannhart 386b70dc58 ControlMath: add derivation and simplify computation 2018-07-20 09:26:18 +02:00
Dennis Mannhart 99de97a528 FlightTaskAuto: fix global reference update 2018-07-20 09:26:18 +02:00
Dennis Mannhart b7f729e432 FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition 
and _evaluateVehicleGlobalPosition
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 913932ff9e FlightTask: move geo-lib include to FlightTaskAuto where it is required 
for conversion from global to local
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 10bd3a50ba PositionControl: parameter subscription declaration 2018-07-20 09:26:18 +02:00
Dennis Mannhart b20bd076a0 FlightTaskAuto: always update type 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7f68417d19 PositionControl: make distinction for throttle minimum depending on mode 2018-07-20 09:26:18 +02:00
Dennis Mannhart 59087afac8 FlightTaskManualStabilized: replace minimum throttle with minum throttle specific for stabilized 2018-07-20 09:26:18 +02:00
Dennis Mannhart 65603d7de7 FlightTaskAutoLine: don't reset during normal operation 2018-07-20 09:26:18 +02:00
Dennis Mannhart 26ca17e329 comment fix 2018-07-20 09:26:18 +02:00
Dennis Mannhart 08a89ccdbb FlightTaskAutoLine: if previous type was idle, set thrust to NAN again to ensure 
thrust is not used. Also, if previous was not a loiter or position type, then reset
setpoints to current state. This is needed because during line following, the
previous setpoints are requires and cannot be NAN.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5f293cceac FlightTaskAutoLine: first activate and then reset 2018-07-20 09:26:18 +02:00
Dennis Mannhart 6da47b4a85 FlightTaskAutoLine: move method 2018-07-20 09:26:18 +02:00
Dennis Mannhart 3d034823b0 FlightTaskAutoLine: introduce previous type which used to reset setpoints 2018-07-20 09:26:18 +02:00
Dennis Mannhart a401778038 FlightTask: remove global to local map 2018-07-20 09:26:18 +02:00
Dennis Mannhart 0efbbdc227 FlightTaskAutoLine: replace xy/z setpoints with FlightTask base setpoints 2018-07-20 09:26:18 +02:00
Dennis Mannhart 37bfd8e01a FlightTaskAuto: always update cruise speed 2018-07-20 09:26:18 +02:00
Dennis Mannhart fbe8a558b2 FlightTaskIndex: add AutoLine 2018-07-20 09:26:18 +02:00
Dennis Mannhart 288ee2362e FlightTaskAuto: remove warning message 2018-07-20 09:26:18 +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
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