fly316/PX4-Autopilot
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37 Commits

Author SHA1 Message Date
Claudio Chies 4ba4b340cc Reduce the orbit jerk by using a slew rate 2024-09-13 10:28:42 +02:00
Matthias Grob 0381e14822 FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick 2024-08-08 10:53:18 -04:00
Claudio Chies 28a0de63c5 Orbit Yaw Vehicle Parameter (#23358) 2024-08-07 11:12:52 +02:00
Matthias Grob 8bb20db7da GotoControl: Save flash 2023-11-30 17:16:02 +01:00
Beat Küng b0e1cc72f7 fix orbit for mc: handle VEHICLE_CMD_DO_ORBIT command and avoid race condition 
Fixes a regression from 8bae4e5c0e, where
the orbit flight task wasn't an extra task (flight_tasks_to_add) anymore
and therefore the command handling wasn't generated.

There was a race condition that could cause several outcomes. The most severe
was that flight_mode_manager gets the command, switches to orbit and then
in the next iteration switches back because commander did not change
nav_state yet. When commander then switches, flight_mode_manager would still
be in the old mode.
This is prevented by storing the command (allowing it to arrive before or
after mode switch), and then apply it after the switch happens.
 2022-11-14 17:31:35 +01:00
Matthias Grob 5ca28dd6dc Use isAllFinite() in all places that check finiteness on entire vectors or matrices 2022-10-19 19:09:20 +02:00
Matthias Grob 87cbda1992 FlightTaskOrbit: parameterize hardcoded maximum radius (#20012) 2022-08-05 09:19:32 +02:00
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Matthias Grob 8ca28f3796 Separate message for trajectory setpoint 2022-05-12 17:19:48 +02:00
Matthias Grob 7cd57b4415 FlightTaskOrbit: alert user about exceeded radius (mavlink_log) 2022-03-29 18:46:37 +02:00
Matthias Grob 3e8d2fea94 FlightTaskOrbit: alert user about exceeded radius (events) 2022-03-29 18:46:37 +02:00
Matthias Grob d0794c1189 FlightTaskOrbit: don't start Orbit if radius is not in range 2022-03-28 17:57:56 +02:00
Matthias Grob 18629bb535 FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes 2022-03-23 10:51:45 +01:00
Matthias Grob e03585ca06 FlightTaskOrbit: remap stick input when vehicle faces tangential 2022-03-23 10:51:45 +01:00
Matthias Grob 42404ade77 FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes 
instead of arbitrary fractions of the maximum radius and velocity.
 2022-01-25 11:45:31 +01:00
Matthias Grob 7c55229db7 FlightTaskOrbit: Fix altitude adjustment by stick 
This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
 2022-01-25 11:45:31 +01:00
Matthias Grob d73d8f390b FlightTaskOrbit: Fix vertical speed limit 2022-01-25 11:45:31 +01:00
Matthias Grob 38de07186d FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 
I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
 2022-01-25 11:45:31 +01:00
Matthias Grob b9fb8490ba FlightTaskOrbit: initialize position smoothing with previous setpoints instead of current state 2022-01-25 11:45:31 +01:00
Matthias Grob e0337a484b FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 
the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
 2022-01-25 11:45:31 +01:00
Matthias Grob 661496ab24 FlightTaskOrbit: improved naming in applyCommandParameters() 2022-01-25 11:45:31 +01:00
Thomas Debrunner 4671a741dc FlightTaskOrbit: Do not switch out of circle orbit control logic on radius change. 2022-01-25 11:45:31 +01:00
bresch ea7d2334c9 mpc: add parameter for ascent/descent speed in auto modes 2022-01-12 13:33:48 +01:00
Thomas Debrunner ade4a1930c trajectory-planning: Added option for PositionSmoothing library with single target waypoint that disables L1 guidance 2021-12-09 20:51:39 -05:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
Matthias Grob f55590ce78 FlightTaskOrbit: remove duplicate newlines 2021-11-03 17:37:52 +01:00
Matthias Grob eda9dce033 FlightTaskOrbit: fix direction change via MAVLink command 2021-11-03 17:37:52 +01:00
Thomas Debrunner d450afead6 FlightTaskOrbit: Direct orbit approach with slowdown at intersection point 2021-11-03 17:37:52 +01:00
Thomas Debrunner 0d0b87e193 Update src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-11-03 17:37:52 +01:00
Thomas Debrunner 9bd46be124 Orbit: Switch to PositionSmoothing library. 
This also fixes the bug with altitude not follows and smoothes orbit approach trajectory
 2021-11-03 17:37:52 +01:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Matthias Grob 25dd12382a FlightTaskOrbit: default center at exact vehicle location 2021-03-17 09:50:11 -04:00
Matthias Grob ef774578e1 FlightTaskOrbit: NACK command if coordinates could not get applied 2021-03-17 09:50:11 -04:00
Daniel Agar 0eac534b80 geo: purge globallocal_converter 2021-03-15 16:16:19 -04:00
Daniel Agar 263b00b65f ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage 
- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
 2021-03-05 18:25:14 -05:00
Matthias Grob 82d6cc3dba FlightTasks: use .xy() where possible 
to take the first two elements of a Vector3f.
 2021-02-10 15:56:58 +01:00
Daniel Agar 4d7b875ee2 flight_mode_manager: merge with flight_tasks 2021-01-17 15:46:30 +01:00