4627d5d6e4
mc_pos_control_main smooth takeoff: enable position-xy/yaw control once above 0.5m from takeoff reference
2018-10-16 11:13:00 -04:00
345d3278d1
mc_pos_control smooth takeoff: if velocity is valid, the control velocity in xy during takeoff
2018-10-16 11:13:00 -04:00
4b70584cf4
mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise
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just keep thrust vector pointing upward
2018-10-16 11:13:00 -04:00
dbd1e1432a
mc_pos_control: for sanity distinguish between velocity and position setpoint during
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smooth-takeoff. This is only required if someone writes a FlightTask where both position
and velocity setpoints are finite
2018-10-16 11:13:00 -04:00
c3ba2687ac
FlightTask: if not in air, reActivate the task which will set the setpoints to current
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vehicle state.
2018-10-10 10:30:48 -04:00
2f833a26d1
mc_pos_control: check if position-control setpoint update succeeded.
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refactor use_obstacle_avoidance method
2018-10-10 10:29:46 -04:00
e73c50ad9c
mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint
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desired such that it's possible to use it in manual modes
2018-10-02 09:45:48 -04:00
079a43238f
mc_pos_control: print Failsafe message only once when entering failsafe
2018-09-28 08:59:22 +02:00
720b3307d8
mc_pos_control: limit flight task init failure printf's
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There were cases where the console was continuously spammed with activation
failure messages.
2018-09-28 08:59:22 +02:00
ff69158836
mc_pos_control: add missing orb_unsubscribe
2018-09-28 08:59:22 +02:00
f7b65c577b
mc_pos_control: refactor to use ModuleBase
2018-09-28 08:59:22 +02:00
ad88ef14e1
weathervane: use a single parameter to enable
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- in auto mode we always run weather vane
- in manual model we just use it in position control mode
Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
96f3feb088
weathervane: get rid of passive strategy
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
0e835cb498
Weathervane: pass quaterionon as constant reference
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
ccaeb58708
WeatherVane lib: address review comments
2018-09-19 08:27:07 +02:00
ce7272a39c
WeatherVane: calculate rotation matrix directly when updating
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
d6b6a1d0b3
addressed comments from review
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
4ad11484ca
mc_pos_control: moded weathervane parameters to weathervane lib
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
8abcf2defa
mc_pos_control: use weathervane library to make vehicle turn into relative wind
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-19 08:27:07 +02:00
21f6ca4a1f
mc_pos_control: fix desired trajectory waypoint. ( #10372 )
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- The first waypoint contains the vehicle current position and the desired velocity setpoint
2018-08-31 17:28:15 -04:00
223dacee64
multicopter position controller use const references
2018-08-31 14:37:49 -04:00
d131fea899
vehicle trajectory limit unnecessary updates and reduce logging ( #10347 )
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- fixes #10345
2018-08-30 09:21:13 -04:00
e2e8d6d135
mc_pos_control_main: fix comment and remove line that is not used
2018-08-30 09:27:48 +02:00
72f1fca55c
mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2
2018-08-30 09:27:48 +02:00
81c5025ad8
mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of
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the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
2018-08-30 09:27:48 +02:00
06c10f61c1
mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail
2018-08-30 09:27:48 +02:00
3ff8cd33a1
mc_pos_control: smooth takeoff requires current position as reference
2018-08-28 10:14:54 +02:00
854e4ef3de
mc_pos_control_main: fix typo ( #10274 )
2018-08-20 10:56:43 -04:00
b14839ab2b
mc_pos_ctrl: send vehicle cmd if task fails and task should be switched
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without this tasks will be switched all the time and the drone starts driftig
2018-08-16 09:48:59 +02:00
aef41a1378
remove empty lines
2018-08-09 16:38:47 -04:00
da2191b721
mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance
2018-08-09 16:38:47 -04:00
0694abf916
mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance
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active
2018-08-09 16:38:47 -04:00
4b54050358
mc_pos_control: get empty avoidance waypoint from fligth task so that code
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isn't duplicated
2018-08-09 16:38:47 -04:00
8190242e02
mc_pos_control: port trajectory interface to the new mc_pos_control
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structure (flight task refactor)
2018-08-09 16:38:47 -04:00
8090708f76
FlightTasks: generate tasks depending on target
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- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
2018-08-08 13:44:49 +02:00
18a3c08659
mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF
2018-07-20 09:26:18 +02:00
ab1ae1fb4e
mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid
2018-07-20 09:26:18 +02:00
80867343ab
mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid
2018-07-20 09:26:18 +02:00
260284571d
mc_pos_control: move failsafe logic into method
2018-07-20 09:26:18 +02:00
ac2c49218d
mc_pos_control: remove mavlink_log_info
2018-07-20 09:26:18 +02:00
f11a65a74f
mc_pos_control: fix overwrite for state velocity
2018-07-20 09:26:18 +02:00
f2d559a4c2
mc_pos_control: minor refactor
2018-07-20 09:26:18 +02:00
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
bf4ac7a9d6
mc_pos_control: for terrain following use range sensor climbrate for velocity estimate
2018-07-20 09:26:18 +02:00
e51e1bbe74
mc_pos_control: replace legacy refactor
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Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.
This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
2018-07-20 09:26:18 +02:00
064a6dd2fd
mc_pos_control: fix rebase mistake
2018-07-12 16:36:11 -04:00
d6ea735b18
make format
2018-07-12 16:36:11 -04:00
492e40a139
mc_pos_control: enable obstacle avoidance only in mission and rtl
2018-07-12 16:36:11 -04:00
da2df5708b
mc_pos_control: refactor to use vehicle_trajectory_waypoint
2018-07-12 16:36:11 -04:00
33b1b13432
mc_pos_control: replace define with parameter to enable/disable obstacle
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avoidance
2018-07-12 16:36:11 -04:00
Dennis Mannhart