e15240d3ad
FlightTask: only allow for position and alitude control without smoothing.
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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
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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
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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
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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
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# 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"
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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,
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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
6daf78494a
TranslationControl: adjust direction based on constrainPIDu inputs
2018-04-05 07:30:12 +02:00
75b6af77de
ControlMath: fix index and don't adjust sign with method but rather function caller
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needs to adjust for sign
2018-04-05 07:30:12 +02:00
19d50f9511
ControlMath: index fix and scaling fix
2018-04-05 07:30:12 +02:00
c9cd920642
rename VectorMath to ControlMath
2018-04-05 07:30:12 +02:00
820d6e866f
TransitionControl: replace thrust constraints with VectorMath functions;
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temporary: remove thrust projection onto body frame
2018-04-05 07:30:12 +02:00
41a5ea6daa
Multicoper position control: function file for controller specific functions
2018-04-05 07:30:12 +02:00
6ffa7a96ba
mc_pos_control: method for publishing attitude and local_pos_sp
2018-04-05 07:30:12 +02:00
6e63ddacd2
yaw setpoint: add math::radians
2018-04-05 07:30:12 +02:00
f0f84d300b
TranslationControl: move mc_pos_control related logic into TranslationControl
2018-04-05 07:30:12 +02:00
9ac32a764f
TranslationControl added to CmakeLists.txt
2018-04-05 07:30:12 +02:00
85c1627c74
TranslationControl: new class that generates thrust vector from state and setpoints
2018-04-05 07:30:12 +02:00
Dennis Mannhart