- fixed a bug where tilt compensation was done also when the horizontal
velocity was controlled. This is not needed because in this case
the controller outputs a 3D thrust vector.
Signed-off-by: Roman <bapstroman@gmail.com>
This resolves a bug where a takeoff would go sideways instead of
straight up. What happened was that the position setpoint got shifted
around even though there was actually no real setpoint set but only a
setpoint of type IDLE. This then lead to a position setpoint far away
from the takeoff point and therefore scary takeoffs.
This fix prevents the part of the position controller which
moves/integrates the position setpoint from running in the case of an
idle setpoint.
This bug could be reproduced by switching the vehicle to mission mode
without a valid mission, then switch to hold mode, and then send the arm
and takeoff command.
* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix.
* Add altitude hold option using Z position control, while doing velocity control on vx and vy.
* Fix style and rebase issues
Since orb_copy is guarded with a orb_check, we ended up not having the
corrent landed state in the beginning which could lead to some
unexpected behaviour on takeoff.
By running the loop in mc_pos_control without successfully polling on
position data, we still copy the manual input over so that
mc_att_control can consume it. This allows to fly in manual mode without
GPS and no position estimate.
* mc pos control: in manual mode calculate attitude setpoint
such that it reflects the users intuition of roll and pitch
for any given heading error
* added some comments on the new manual attitude setpoint generation
* make calculation shorter
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
Julian Oes