Dennis Mannhart
4d9f96bfbd
FlightTaskFailure: will hover if position available, will land if velocity valid and
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will land with 0.3 of hover thurst if position nor velocity is valid
2018-08-30 09:27:48 +02:00
Daniel Agar
acff200f0d
FlightTasks safer matrix usage
2018-08-27 16:33:38 -04:00
ChristophTobler
56ea4fa6fa
FlightTask StraighLine: check values before dividing
2018-08-12 09:37:05 -04:00
ChristophTobler
d3d549b8e6
FlightTask Smoothing: check dt before dividing
2018-08-12 09:37:05 -04:00
Dennis Mannhart
9a23295a40
heading update: do not update heading within NAV_ACC_RAD
2018-08-10 15:52:10 +02:00
Martina
2d9bbeb7ed
FlightTaskAuto: use the triplets from navigator and not with the internal
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ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription
2018-08-09 16:38:47 -04:00
Martina
8096e84133
FlightTask: add padding to empty_trajectory_waypoint definition
2018-08-09 16:38:47 -04:00
Martina
10988f5bf1
FlightTask: add comment for method getAvoidanceWaypoint
2018-08-09 16:38:47 -04:00
Martina
aef41a1378
remove empty lines
2018-08-09 16:38:47 -04:00
Martina
b856c1048d
FlightTask: add methods to get the desired trajectory waypoints
2018-08-09 16:38:47 -04:00
Martina
17a08a9de7
FlightTaskAuto: add update method to get triplets for the trajectory
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interface
2018-08-09 16:38:47 -04:00
ChristophTobler
4bbde0df8c
FlightTasks: move FlightTask to own folder/lib
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fix header includes
add cmake subdirectories dynamically
2018-08-08 13:44:49 +02:00
ChristophTobler
1b1b3b5484
FlightTasks: Move AutoMapper to own folder and create lib
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AutoLine now depends on AutoMapper
2018-08-08 13:44:49 +02:00
ChristophTobler
34203f7e8c
FlightTasks: add header lib for sport
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
ChristophTobler
b68fd5e0a7
Flight Tasks: CMake/folder restructure (no code change)
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put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)
2018-08-08 13:44:49 +02:00
Dennis Mannhart
4a91074aaa
FlightTaskAuto: add comment
2018-08-03 08:24:34 +02:00
Dennis Mannhart
a24b614dec
FlightTaskAutoLine: generate heading along track if yaw setpoint is not valid
2018-08-03 08:24:34 +02:00
Dennis Mannhart
02feb10865
FlightTaskAuto: triplet yaw-setpoint has priority over MPC_YAW_MODE.
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Add MPC_YAW_MODE option for heading along trajectory, which will be the same as
option 0 (heading towards target) if trajectory is straight line
2018-08-03 08:24:34 +02:00
Dennis Mannhart
694f49c80a
FlightTaskAuto: method for computing heading from 2D vector
2018-08-03 08:24:34 +02:00
Dennis Mannhart
6cd16f345e
FlightTaskAuto: set heading based on yaw mode
2018-08-03 08:24:34 +02:00
Dennis Mannhart
f0282bcd8f
FlightTaskAuto/Line: make params protected and add NAC_ACC_RAD and MPC_YAW_MODE
2018-08-03 08:24:34 +02:00
Dennis Mannhart
7723860f37
remove unused constant
2018-08-02 09:23:17 +02:00
Dennis Mannhart
a06ff4a2ce
FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments
2018-08-02 09:23:17 +02:00
Dennis Mannhart
338ca3104c
FlightTaskAutoLine: remove activate method bc uses same impl as FlightTaskAutoMapper
2018-08-02 09:23:17 +02:00
Martina
3fe2646d80
FlightTaskAuto: add comments and fix variable naming convention
2018-08-02 09:23:17 +02:00
Martina
e13ca0d990
FlightTaskAuto: fix triplet reset
2018-08-02 09:23:17 +02:00
Martina
f379035a3b
FlightTaskAuto: move generation of the the internal waypoints to FlightTaskAuto such that they are available to all derived classes.
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Change logic to update the internal triplets only when the navigator triplets have changed or when the vehicle state has changed.
2018-08-02 09:23:17 +02:00
Martina
ade254394e
fix parameters subscription
2018-08-02 09:23:17 +02:00
Martina
3f2f399b91
FlightTaskAutoMapper: clean-up and fix comments
2018-08-02 09:23:17 +02:00
Martina
d85481be6d
Restructure FlightTaskAutoLine:
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-add FlightTaskAutoMapper that handles the different types of waypoint and
generates setpoints for all types except of position and loiter
- FlightTaskAutoLine generates the setpoint types position and loiter if
the flight between waypoint is a straight line
2018-08-02 09:23:17 +02:00
Daniel Agar
6f204c4913
FlightTask initialize _dist_to_bottom
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- fixes Coverity CID 306248
2018-08-02 08:06:08 +02:00
Daniel Agar
36fdd3a127
FlightTaskManualPosition initialize all fields
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- fixes Coverity CID 306259
2018-08-02 08:06:08 +02:00
Daniel Agar
a90c7659ad
FlightTasks local position setpoint don't use copyRaw
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- fixes Coverity CID 268659
2018-08-02 08:06:08 +02:00
Dennis Mannhart
fc8a05f636
estimataor reset counter: set Flighttaskcounter equal reset-counter during activation ( #10035 )
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- fixes #10033
2018-07-28 10:08:58 -04:00
ChristophTobler
9aa6dad514
FlightTask orbit: make format
2018-07-24 15:03:53 +02:00
MaEtUgR
e8d2f1c2be
FlightTaskOrbit: execute MAVLink orbit command
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Latest QGC daily supports sending an orbit command. This commit applies
the correct radius, rotation direction, velocity and center position.
Still missing is a check to have global position available and applying
x,y coordinates and altitude independently.
2018-07-24 15:03:53 +02:00
MaEtUgR
7c068e47ab
FlightTaskOrbit: fix acceleration limit inverting velocity
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The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
2018-07-24 15:03:53 +02:00
MaEtUgR
12290c27e6
FlightTask: update global reference
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For the geo.h C library to convert between global and local frame
we need an up to date global reference which is currently inside the
vehicle_local_position message.
2018-07-24 15:03:53 +02:00
MaEtUgR
6472b579dc
FlightTaskOrbit: switch rotation direction
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Switch to positive tangential velocity being clockwise because with NED
frame z-axis points down and mathematically positive around the z-axis
results in clockwise yaw rotation when seen from above. Also MAVLink
messages and other components in PX4 are defined this way.
2018-07-24 15:03:53 +02:00
MaEtUgR
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
Matthias Grob
93bab20510
FlightTaskOrbit: switch to FlightTaskAltitudeSmooth
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Nice smooth altitude control is already provided by the existing
flight task for altitude mode. We inherit from it to resuse the
functionality and just all its update first not altering the setpoints
for the z-axis it produced.
2018-07-24 15:03:53 +02:00
Matthias Grob
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
Matthias Grob
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
Matthias Grob
2b6926fe9d
FlightTaskOrbit: speed up stick input to a fixed time frame
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Maximum velocity achievable in 4 seconds,
maximum radius achievable in 8 seconds for futher testing.
These should be parameters as soon as it works fine.
2018-07-24 15:03:53 +02:00
Matthias Grob
33ba041120
FlightTaskOrbit: improve yaw tracking with feed-forward
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To make the vehicle front always point exactly to the center and not
lag behind.
2018-07-24 15:03:53 +02:00
Matthias Grob
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
Matthias Grob
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
Matthias Grob
993d76c0da
FlightTaskOrbit: fix vehicle yawing to the center
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I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
2018-07-24 15:03:53 +02:00
ChristophTobler
99e58e2923
FlightTask StraightLine: make format
2018-07-24 08:40:05 +02:00
Dennis Mannhart