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23,094 Commits 852 Branches 161 Tags
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Commit Graph
146 Commits
Author SHA1 Message Date
Daniel Agar 9fb5c4f0e9 navigator land abort use reposition (#7574) 2017-08-01 18:59:12 -04:00
Lorenz Meier cb3222d131 Navigator: Be less verbose 2017-07-18 23:05:43 +02:00
Julian Oes 9854fc0d84 Set timestamp with vehicle commands 
The vehicle_command uORB messages had the timestamp unset at 0.
 2017-07-08 11:52:23 +02:00
Daniel Agar c8189b9c23 navigator mission_block check range for loiter exit 
- fixes #7510
 2017-06-29 21:28:26 +02:00
ChristophTobler bc406a122e disable min loiter altitude 2017-06-15 09:18:35 +02:00
Sean Matthews c41185a277 Fixes valid yaw check 2017-06-14 01:23:37 +05:30
Sean Matthews d9cec600ed Fixes #7313: Invalid setpoint yaw after takeoff 2017-06-14 01:23:37 +05:30
Daniel Agar f1079e3382 mission block remove unread value 2017-06-02 19:35:18 -04:00
Daniel Agar 64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00
Dennis Mannhart 1ee160a5ff navigator takeoff: use global yaw instead of home yaw 2017-05-15 15:41:47 +02:00
yaoling 3ad23a44c5 navigator fix takeoff insidetime = 0 (#7199) 2017-05-13 12:16:55 -04:00
Mohammed Kabir ad5fe5f44a Add support for SET_CAMERA_MODE command; Not used yet. 2017-05-12 22:11:17 +02:00
Mohammed Kabir 2e92a3946d camera_trigger : completely refactor state handling 2017-05-12 22:11:17 +02:00
Nate Weibley 50740ef813 Improve FW landing predictability 
- Use the course over ground as loiter exit criteria (better wind behavior)
 - Compute the tangent origin coordinate explicitly instead of using immediate position
 2017-05-04 07:51:46 +02:00
ChristophTobler dce28454c8 use current local position for land and not GPS -> e.g. flow 2017-05-03 16:52:37 +02:00
Daniel Agar ed1b442065 mission require valid landing after DO_LAND_START 2017-04-20 14:41:01 -04:00
Daniel Agar 56b028148b Navigator move get_time_inside and cleanup (#7062) 2017-04-20 11:24:55 -04:00
Daniel Agar 809fec8c05 navigator treat TAKEOFF like POSITION if already flying 2017-04-19 10:45:59 +02:00
Don Gagne 96458d3184 Support for RTL and Delay mission commands 2017-04-18 08:56:01 +02:00
Lorenz Meier 5fd7f2fa6f Navigator: Clean up of mission block init 2017-04-10 23:18:40 +02:00
ChristophTobler 0263ab8cd2 enable takeoff in gps denied areas and minor requested changes 2017-02-13 21:11:25 +01:00
ChristophTobler 64092f087f fix landing angle if no gps 2017-02-13 21:11:25 +01:00
Sander Smeets ba10db06c2 Code formatting 2017-01-17 03:14:26 -08:00
Sander Smeets de039ca870 VTOL back transition acceptance radius calculation 2017-01-17 03:14:26 -08:00
Daniel Agar c280358e32 navigator fix code style 2017-01-07 01:03:18 -05:00
Daniel Agar 61e48e2286 navigator comment fall through in case 2017-01-04 16:08:20 -05:00
Andreas Antener e0fc0a847c Mission: 
- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
 2016-12-28 11:53:19 +01:00
Daniel Agar c17c8884d1 implement MAV_CMD_DO_LAND_START 2016-11-19 15:48:10 +01:00
Daniel Agar a8369c6ac8 FW use loiter to achieve waypoint altitude 
- fixes #5061
 2016-11-05 10:30:36 +01:00
Sander Smeets 39cc75b4a0 Rebase of vtol_land_weathervane patch 2016-11-04 20:29:45 +01:00
Lorenz Meier 05bc9acfb7 navigator: Wrap get time inside into function call and set time inside to zero 
This ensures that the dual-use of the pitch_min / time_inside field is handled
properly between takeoff and non-takeoff items. Flight tested in SITL.
 2016-10-23 16:26:03 +02:00
Lorenz Meier ff0d7613b1 Add manual seed to dataman hash to allow later incrementing the seed number for incompatible changes 2016-10-23 16:26:03 +02:00
Lorenz Meier c340974991 Ensure pitch min param is correctly handled 2016-10-23 16:26:03 +02:00
Lorenz Meier eaae1abdaf Simplify use of pitch_min 2016-10-23 16:26:03 +02:00
Lorenz Meier 9821499113 navigator / mission item: Compress fields into bitfield 2016-10-23 16:26:03 +02:00
Julian Oes 82f27884df navigator: fix wrong altitude after takeoff 
This change fixes a wrong behaviour when a takeoff command is sent.

An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters

Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters

New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
   overridden.
 2016-10-23 16:25:15 +02:00
Julian Oes dcd0df7d02 navigator: fix typo 2016-10-23 16:25:15 +02:00
Julian Oes 4f5fa50efb navigator: fix takeoff jump edge case 
In the normal sitl `commander takeoff` case, the takeoff jump was never
actually carried out because the default altitude radius is set to 3m
and the takeoff altitude to ~2m which means that the takeoff waypoint is
"reached" immediately.

This works around this edge case by using the altitude between the home
altitude and takeoff altitude divided by 2 as a acceptance radius.
 2016-10-23 16:25:15 +02:00
Julian Oes 9842e49dc6 navigator/mavlink: photos and videos at waypoints 
This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
 2016-10-15 12:37:06 +02:00
Beat Küng 55bff206be mission: add NAV_CMD_DO_SET_ROI & NAV_CMD_ROI 2016-10-07 10:57:26 +02:00
Beat Küng be4db3c5df vehicle_command topic: use uorb queuing with length 3 
Just to make sure we don't lose any messages.
 2016-09-07 18:47:12 +02:00
sander e6834579e5 Use altitude acc rad 2016-08-17 23:58:04 +02:00
sander 7afa21ebb7 Revert altitude acceptance radius to combat overshoot 2016-08-17 23:58:04 +02:00
Daniel Agar 2a15578f8d FW implement MAV_CMD_DO_GO_AROUND 2016-08-06 20:56:53 +02:00
sander 788f04ea58 Remove debug info 2016-07-30 11:43:52 +02:00
sander 2bca19fc5e Remove acceptance radius from takeoff altitude for MC 2016-07-30 11:43:52 +02:00
sander e4f20f98cd Implement altitude acceptance radius 2016-07-30 11:43:52 +02:00
Daniel Agar 59b4350aa0 implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup 2016-07-12 23:36:05 +02:00
Daniel Agar 7f89994785 use NAV_ACC_RAD for vertical waypoint acceptance (#4978) 2016-07-04 21:41:16 +02:00
Daniel Agar 07fa814597 FW vtol landing always forced (#4939) 2016-06-30 13:55:47 +02:00