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27,816 Commits 852 Branches 161 Tags
4b70584cf483c1db941d9e2bb6f3b7099dbb47c0
Commit Graph
720 Commits
Author SHA1 Message Date
Dennis Mannhart 4b70584cf4 mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise 
just keep thrust vector pointing upward
 2018-10-16 11:13:00 -04:00
Dennis Mannhart dbd1e1432a mc_pos_control: for sanity distinguish between velocity and position setpoint during 
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
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
Beat Küng 431bcbe642 MPC_THR_HOVER: reduce minimum from 20% to 10% 2018-10-09 12:09:07 +02:00
Beat Küng 48f5f8faa5 mc pos control: add MPC_THR_CURVE param 
The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.
 2018-10-09 12:09:07 +02:00
Beat Küng eb30b5b73e mc_pos_control_params: remove unused MPC_MANTHR_MAX params 2018-10-04 15:09:02 +02:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Beat Küng 079a43238f mc_pos_control: print Failsafe message only once when entering failsafe 2018-09-28 08:59:22 +02:00
Beat Küng 720b3307d8 mc_pos_control: limit flight task init failure printf's 
There were cases where the console was continuously spammed with activation
failure messages.
 2018-09-28 08:59:22 +02:00
Beat Küng ff69158836 mc_pos_control: add missing orb_unsubscribe 2018-09-28 08:59:22 +02:00
Beat Küng f7b65c577b mc_pos_control: refactor to use ModuleBase 2018-09-28 08:59:22 +02:00
Roman ad88ef14e1 weathervane: use a single parameter to enable 
- 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
Roman 96f3feb088 weathervane: get rid of passive strategy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 0e835cb498 Weathervane: pass quaterionon as constant reference 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman ccaeb58708 WeatherVane lib: address review comments 2018-09-19 08:27:07 +02:00
Roman ce7272a39c WeatherVane: calculate rotation matrix directly when updating 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman d6b6a1d0b3 addressed comments from review 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 4ad11484ca mc_pos_control: moded weathervane parameters to weathervane lib 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 8abcf2defa mc_pos_control: use weathervane library to make vehicle turn into relative wind 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Martina Rivizzigno 21f6ca4a1f mc_pos_control: fix desired trajectory waypoint. (#10372) 
- The first waypoint contains the vehicle current position and the desired velocity setpoint
 2018-08-31 17:28:15 -04:00
Daniel Agar 223dacee64 multicopter position controller use const references 2018-08-31 14:37:49 -04:00
Daniel Agar d131fea899 vehicle trajectory limit unnecessary updates and reduce logging (#10347) 
- fixes #10345
 2018-08-30 09:21:13 -04:00
Dennis Mannhart e2e8d6d135 mc_pos_control_main: fix comment and remove line that is not used 2018-08-30 09:27:48 +02:00
Dennis Mannhart 72f1fca55c mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2 2018-08-30 09:27:48 +02:00
Dennis Mannhart 81c5025ad8 mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of 
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
Dennis Mannhart 06c10f61c1 mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail 2018-08-30 09:27:48 +02:00
alessandro 74785f75bd ControlMath: Initialize vehicle_attitude_setpoint 2018-08-29 17:41:11 +02:00
Dennis Mannhart 3ff8cd33a1 mc_pos_control: smooth takeoff requires current position as reference 2018-08-28 10:14:54 +02:00
Martina Rivizzigno 854e4ef3de mc_pos_control_main: fix typo (#10274) 2018-08-20 10:56:43 -04:00
ChristophTobler b14839ab2b mc_pos_ctrl: send vehicle cmd if task fails and task should be switched 
without this tasks will be switched all the time and the drone starts driftig
 2018-08-16 09:48:59 +02:00
Dennis Mannhart a9d83b77de ControlMath: math optimization 2018-08-15 16:19:51 +02:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina da2191b721 mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance 2018-08-09 16:38:47 -04:00
Martina 0694abf916 mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance 
active
 2018-08-09 16:38:47 -04:00
Martina 4b54050358 mc_pos_control: get empty avoidance waypoint from fligth task so that code 
isn't duplicated
 2018-08-09 16:38:47 -04:00
Martina 8190242e02 mc_pos_control: port trajectory interface to the new mc_pos_control 
structure (flight task refactor)
 2018-08-09 16:38:47 -04:00
ChristophTobler 8090708f76 FlightTasks: generate tasks depending on target 
- 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
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
Dennis Mannhart e0f505ec57 mc_pos_control_param: MPC_YAW_MODE remove option "set by waypoint" because that 
is executed at any time if triplet as valid yaw waypoint
 2018-08-03 08:24:34 +02:00
Dennis Mannhart 27812ad7ac mc_pos_control_params: add MPC_YAW_MODE for heading during auto 2018-08-03 08:24:34 +02:00
Paul Riseborough a37580ceac mc_pos_control: remove un-used parameter 2018-07-22 17:42:31 +10:00
Paul Riseborough dd3fb84db8 mc_pos_control: Fix parameter description error 2018-07-22 17:42:31 +10:00
Paul Riseborough 82780e33b9 mc_pos_control: Add parameter support for terrain hold function 
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
 2018-07-22 17:42:31 +10:00
Dennis Mannhart 18a3c08659 mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF 2018-07-20 09:26:18 +02:00
Dennis Mannhart ab1ae1fb4e mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid 2018-07-20 09:26:18 +02:00
ChristophTobler 9362f844f4 position control: fix failsafe thrust 
invert direction to point upwards and increase to 70% of throttle range between min and hover
 2018-07-20 09:26:18 +02:00
ChristophTobler 7cc85885a4 position control: set _skip_controller before calling _interfaceMapping() 
Without this failsafe will be overwritten
 2018-07-20 09:26:18 +02:00