Lorenz Meier
420acb9748
Merge branch 'beta'
2015-08-04 10:56:53 +02:00
Lorenz Meier
90e4fa8a33
TECS: Weight down speed gain
2015-08-02 16:07:32 +02:00
Mark Whitehorn
c0d2b22d00
cosmetic: fix typos in comments
2015-08-02 16:07:32 +02:00
Lorenz Meier
e443a3f3be
Harmonize FW default gains, increase TECS height rate default gain considerably
2015-08-02 16:07:31 +02:00
Lorenz Meier
f3ae231dad
TECS: Fix manual climbout
2015-08-02 01:23:15 +02:00
Lorenz Meier
3d8c628efa
FW pos control: Comment and clean up altitude setpoint handling
2015-08-02 00:41:58 +02:00
Lorenz Meier
ea7ae7d019
Merged beta into master
2015-08-01 16:58:02 +02:00
Lorenz Meier
75085dc5d6
Condition TECS properly on any altitude control mode
2015-07-27 10:16:48 +02:00
Lorenz Meier
e84d97b387
Only update TECS filter if auto is enabled. This forces the internal TECS logic to reset between auto runs
2015-07-22 22:40:26 +02:00
Lorenz Meier
2a8402edb1
Merged beta into master
2015-07-09 15:55:31 +02:00
Lorenz Meier
fd63ba7b89
FW pos control: Widen acceptance range for yaw rate to re-engage heading hold
2015-07-06 01:43:00 +02:00
Lorenz Meier
d1f8edb346
Merged beta into master
2015-07-04 23:02:47 +02:00
Lorenz Meier
3671ce716a
Set better defaults for fixed wing position controllers
2015-07-04 11:39:31 +02:00
Lorenz Meier
6cf47b59da
FW controller: Update use to new uORB API
2015-06-30 15:46:14 +02:00
Lorenz Meier
50ba1f7365
merged release_v1.0.0 into master
2015-06-30 15:30:45 +02:00
tumbili
dcb680f9d6
VTOL: only publish attitude setpoint if in correct mode
2015-06-25 22:08:52 +02:00
Lorenz Meier
454becdae5
Merged release_v1.0.0 branch into master
2015-06-25 21:45:17 +02:00
tumbili
5cf20c8dcf
increase fw idle for ATTCTL and POSCTL to 0.2
2015-06-23 12:57:39 +02:00
Lorenz Meier
f680bbed54
FW pos control: Rename _ground_alt to _takeoff_ground_alt to make it less ambigious with the actual terrain altitude
2015-06-23 12:57:39 +02:00
Lorenz Meier
f4845b2b8f
FW pos control: Guard against altitude estimate change
2015-06-23 12:57:39 +02:00
tumbili
5d92927991
make motors spin in POSCTRL and ATTCTRL when landed and throttle applied by user
2015-06-23 12:57:39 +02:00
Lorenz Meier
46428769a5
FW pos control: Fix mavlink output
2015-06-22 09:58:27 +02:00
Roman
0446efa9a4
limit roll angle in loiter and position control mode if we are in a takeoff situation
2015-06-17 17:46:37 +02:00
Roman
6ce106eea4
limit minimum pitch in altitude controller modes if in a takeoff situation
2015-06-17 17:36:26 +02:00
tumbili
5c59d7a434
do not run tecs if we are on ground to prevent integrator filling
2015-06-16 23:05:58 +02:00
tumbili
c91bb76b42
ask for climbout mode when doin takeoff help
2015-06-16 23:05:58 +02:00
Lorenz Meier
44441ab501
FW pos control: Perform climbout if user requests more than 85% pitch up
2015-06-14 14:05:17 +02:00
Lorenz Meier
c9fefe236b
Merged release into master
2015-06-13 11:06:01 +02:00
Lorenz Meier
6c0539c243
FW position controller: Do handle idle mission items correctly
2015-06-12 15:55:55 +02:00
Lorenz Meier
696e1fc9e2
Merge pull request #2300 from tumbili/heading_hold
...
fixed wing posctrl
2015-06-08 17:21:31 +02:00
Lorenz Meier
1fb7434128
Navigation capabilites: Ensure regular publication of updated topic
2015-06-08 16:48:50 +02:00
Lorenz Meier
c7be59038c
L1 pos control: Publish timestamp when setting nav capabilities
2015-06-08 16:48:49 +02:00
tumbili
d40f94bf26
fixed wing posctrl:
...
- lock desired yaw once yaw speed is small
2015-06-08 09:38:49 +02:00
Roman
ef6e07fc9b
fixed wing position control:
...
- only lock on yaw if yawrate is below threshold
- remove more magic numbers
2015-06-05 22:45:07 +02:00
Mark Whitehorn
1f3c5d00e4
fix posctl heading hold
2015-06-05 22:45:07 +02:00
tumbili
e5e4db1923
POSCTRL:
...
- make sure we always intialize the waypoints
on the desired path and that the previous waypoint is
behind the plane
- replace magic numbers with defines
2015-06-05 22:45:07 +02:00
Lorenz Meier
46d969772c
Fixed wing heading hold: Engage only after wings got close to level already
2015-06-05 22:45:07 +02:00
Lorenz Meier
c99489ee9d
FW pos control: Implement hardcore throttle limiting in manual interaction mode
2015-06-05 22:45:06 +02:00
Lorenz Meier
ad9b875aea
Pos control: Update symbol name
2015-06-05 22:45:06 +02:00
Roman
032484bd31
added takeoff protection in altitude controlled modes, code duplication cleanup
2015-06-05 22:45:06 +02:00
Roman
629002738b
define new mode for altitude
2015-06-05 22:45:06 +02:00
tumbili
8b6593495c
reset waypoints when switching to fw pos_ctrl mode
2015-06-05 22:45:05 +02:00
Lorenz Meier
5197be67a7
FW control: Add skeleton for distinct altitude control and position control flight modes
...
Conflicts:
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
2015-06-05 22:45:05 +02:00
Lorenz Meier
17adf552ef
TECS: Update logging struct
2015-05-27 15:21:34 -07:00
Lorenz Meier
4565f57468
Merged release_v1.0.0 into master
2015-05-27 15:28:41 -07:00
Mark Charlebois
1ca05aaa64
orb_advert_t changed to void * and checks changed to nullptr
...
The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-27 14:42:49 -07:00
Mark Charlebois
a734fc96d1
extensive orb_advert_t fixes
...
The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.
The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.
Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-27 14:41:33 -07:00
Mark Charlebois
c5237f7f6f
Removed extra abstracton layer in systemlib
...
The calls to task_spawn_cmd, kill_all, and systemreset were wrappers
around the px4_{task_spawn_cmd|kill_all|systemreset} implementations.
Removed the wrappers and changed all calls to the px4_ equivalents.
NuttX specific code was moved into px4_tasks.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-06 14:43:11 -07:00
Mark Charlebois
9758112e31
Use px4_config.h instead of nuttx/config.h
...
Modified code to use OS independent header file for config settings.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-04-20 10:55:41 -07:00
Mark Charlebois
bf429188b4
Reverted: Use OS independent API for task creation/deletion
...
Keep existing API use in code. Bind the use of the OS independent
implementation in the systemlib layer.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-04-20 10:49:44 -07:00
Lorenz Meier