e0ca38e794
standard vtol: fix mc weight calculation
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-07 14:01:51 +01:00
23257bf6ee
standard vtol: simplify blending weight calculation
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-07 14:01:51 +01:00
1d8f588d37
vtol_att_control: switch from division to multiplication for variable
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calculation
Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-07 14:01:51 +01:00
196d0e40b4
standard vtol: use time in second since transition start instead of using
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microseconds
- seconds is more intuitive
- avoids tons of divisions by 1e6f
Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-07 14:01:51 +01:00
6900f97b72
vtol_att_control: use airspeed_disabled flag instead of airspeed mode
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-03-07 14:01:51 +01:00
daa6c6ffc8
vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time
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- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
2018-03-07 14:01:51 +01:00
aca30fc612
VTOL standard - Remove pitch trim
2018-01-29 09:32:51 -05:00
920cb7a1a1
VTOL standard - Group multicopter weights in update_vtol_state()
2018-01-29 09:32:51 -05:00
d34767b871
VTOL standatd - Simplify multicopter weight in update_transition_state()
2018-01-29 09:32:51 -05:00
137a2444a8
VTOL standard respect VT_ELEV_MC_LOCK
2018-01-11 16:18:47 -05:00
4416c4ddb3
navigator move parameters out of MissionBlock
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- MissionBlock is an interface with > 10 implementations
2017-10-26 22:43:53 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
5bea264a5f
Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules
2017-09-21 17:44:57 +02:00
b5c3bc7b0f
Remove thrust_sp from pusher assist calculation
2017-09-20 10:51:06 +02:00
07a995a621
Code style
2017-09-11 12:08:39 +02:00
1d2a08bd2d
VTOL back transition: check only forward velocity
2017-09-11 12:08:39 +02:00
595d706eaf
Reverse pusher delay
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Thist adds a delay for the reverse thrust to allow the motor to brake and avoid sync issues.
2017-08-30 08:08:25 +02:00
33e67fd527
Disable PA during landing
2017-08-16 08:19:06 +02:00
e6c942033b
Disable pusher assist when descending
2017-08-16 08:19:06 +02:00
8f5293d7b0
Remove explicit pusher throttle setting
2017-08-16 08:19:06 +02:00
33efd89ef8
Disable pusher assist for quadchute failsafe
2017-08-16 08:19:06 +02:00
66bb7adc4c
simplify back transition throttle scaling
2017-08-16 03:06:13 +02:00
6b9a8daceb
Correctly name b_trans_thr and remove contraint
2017-08-16 03:06:13 +02:00
7a8d3c4ab2
Correctly check reverse thrust conditions
2017-08-16 03:06:13 +02:00
4396e78d12
Allow negative thrust on reverse throttle
2017-08-16 03:06:13 +02:00
01d9212a29
Widen pusher throttle constraint
2017-08-16 03:06:13 +02:00
e5a55cd142
Support negative thrust for back transition
2017-08-16 03:06:13 +02:00
fbbe3d1f41
Check velocity valid and param description
2017-08-16 03:06:13 +02:00
50894e8615
VTOL control back transition ramp up time
2017-08-16 03:06:13 +02:00
560e9e88dc
Apply slew rate to reverse thrust
2017-08-16 03:06:13 +02:00
2e481867e5
Consider back transtition complete when MPC_XY_CRUISE is reached
2017-08-16 03:06:13 +02:00
1a0c23d8b3
Support thrust reversal for vtol back transition
2017-08-16 03:06:13 +02:00
48be61160d
Float value correction
2017-07-10 21:15:08 +02:00
70178266f0
VTOL pusher assist: return vehicle to level position
2017-07-10 21:15:08 +02:00
81c46b6f92
VTOL Standard - Disable pusher-for-pitch strategy in manual control
2017-07-10 21:13:28 +02:00
0158f1d506
VTOL Standard transition improvements ( #6904 )
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* FW actuators fully on the entirety of front and back transition
* back transition ramp up to full MC weight half way through back transition
* increase maximum front and back transition times
* navigator don't reset transition altitude
2017-04-02 19:39:39 -04:00
16515e1d1e
VTOL standard transition use FW_PSP_OFF ( #6728 )
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* VTOL back transition maintain FW_PSP_OFF
* VTOL Front transition FW_PSP_OFF rampup
2017-03-25 00:24:59 -04:00
7f4519d763
VTOL: Header cleanup
2016-12-27 21:00:51 +01:00
d6ef137e59
VTOL att control: Fix status reporting
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The transition state reporting was inverted because of a typo. Code analysis suggests this will only have an effect in manual transition.
2016-12-25 18:15:51 +01:00
0c49abbef8
standard vtol: correctly modify attitude for pusher assist
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- fix a bug where the wrong rotation order was used to compute the attitude
setpoint when using the pusher assist feature
Signed-off-by: Roman <bapstroman@gmail.com >
2016-12-08 15:05:43 +01:00
d77547e7e1
vtol_attitude_control: hotfix, do not update parameters on every iteration
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-11-22 10:05:53 +01:00
a12780c88f
Remove attitude setpoint matrix from attitude setpoint topic
2016-10-19 10:17:41 +02:00
9fd0513be3
vtol remove unused vehicle_status
2016-09-27 08:49:45 +02:00
8c9f4e8ab8
added which transition the vtol is in to vehicle status
2016-09-13 14:32:00 +02:00
c6e4926d4e
prevent instant transition to fixed-wing while already in back transition, prevents unsafe flying state
2016-09-13 14:32:00 +02:00
1efe011522
code style
2016-08-17 23:58:04 +02:00
5bb36162be
Start time based transition blending half-way
2016-08-17 23:58:04 +02:00
f3c5c2c5a9
use thrust scale parameter for vtol pusher support ( #5207 )
2016-08-03 23:41:01 +02:00
579d420db1
VTOL: enable MC motors after instant back transition
2016-08-03 13:56:07 +02:00
6f1eda2b18
added single point to decide if we need quadchute, let the reason be passed from the source where we know what's going on
2016-08-02 21:09:45 +02:00
Roman