557559cd85
set _triplet_lat_lon_finite true to avoid landing to not the current location, see #7990
2017-09-22 15:20:13 +02:00
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
b00c93ac21
mc_pos_control_main: add clarification that we're in world frame
2017-09-19 11:44:29 +02:00
05e3c58e18
mc_pos_control_main: simplify manual control handling
2017-09-19 11:44:29 +02:00
d6df692b7a
param MPC_MAN_TILT_MAX: decrease maximum from 90 to 85 degrees
...
At 90 degrees the yaw is extremely unstable (tested with HIL), it
overshoots and only very slowly converges to the correct value.
This behavior is also noticable with lower angles, but not so extreme.
It definitely needs to be looked into further, but for now this makes it
safer.
2017-09-19 11:44:29 +02:00
55bd35cba6
mc_pos_control_main: improve the manual input setpoints
2017-09-19 11:44:29 +02:00
fc51c42280
mc_pos_control_main: fix types for parameter values
2017-09-19 11:44:29 +02:00
82f25453a7
mc_pos_control: smooth position control from stick input
2017-09-18 13:30:16 +02:00
a398dc09c7
mc_pos_control: set curr_pos_sp(0:1) to pos(0:1) if non-finite
2017-09-11 02:08:22 -07:00
22be99da3e
mc_pos_control: change name _pos_first_nofinite to _triplet_lat_lon_finite
2017-09-11 02:08:22 -07:00
cdb610a453
mc_pos_control: remove _limit_vel_xy
2017-09-11 02:08:22 -07:00
9ea465b66b
mc_pos_control auto: fix curr pos sp mapping to local frame
2017-09-11 02:08:22 -07:00
cb9efd7119
mc_pos_control: remove unused defines and add SIGMA
2017-09-11 02:08:22 -07:00
352f86fff4
mc_pos_control reintegration fixes of duplicates, unused parameter and order
2017-09-11 02:08:22 -07:00
bf5e81a34f
mc_pos_control param: acceleration parameters adjustment and addition
2017-09-11 02:08:22 -07:00
10a9c410e3
mc_pos_control: parameter for maximum horizontal velocity
2017-09-11 02:08:22 -07:00
8eca82022c
mc_pos_control: sub param.acc with block param
2017-09-11 02:08:22 -07:00
44e4beeeec
mc_pos_control: check if triplets are valid, otherwise ignore
2017-09-11 02:08:22 -07:00
c84c7cdcb4
mc_pos_control: set previous triplet point to invalid when switching to manual
2017-09-11 02:08:22 -07:00
2ceb703613
mc_pos_control: use math::constrain
2017-09-11 02:08:22 -07:00
947d63fb11
mc_pos_control auto: replace min_cruise_speed with cruise_speed_90; take care of case when cruise_speed_90 is exactly in the middle of max and min
2017-09-11 02:08:22 -07:00
3538f028b4
mc_pos_control: use 0.5 of acceleration for auto
2017-09-11 02:08:22 -07:00
807d45c99c
mc_pos_control slowing down close to target take over previous setpoint if low
2017-09-11 02:08:22 -07:00
ac3321dc6c
mc_pos_control: distinguish between up and down acceleration
2017-09-11 02:08:22 -07:00
9ec0d72f3c
mc_pos_control: make sure that passing waypoint only allowed if altitude is reached
2017-09-11 02:08:22 -07:00
b769d1cee0
mc_pos_control auto: apply auto logic for z-direction
2017-09-11 02:08:22 -07:00
8e99c73f49
mc_pos_control: don't divide by zero
2017-09-11 02:08:22 -07:00
cb820a168a
mc_pos_control: use original targethreshold when computing target_velocity
2017-09-11 02:08:22 -07:00
08d15f5402
mc_pos_control: remove target threshold from auto
2017-09-11 02:08:22 -07:00
dbed42a720
mc_pos_control auto: ensure the order of cruise speeds during mission
2017-09-11 02:08:22 -07:00
3f73a56f5a
mc_pos_control: accelerate faster in auto and increase speed at 90degrees angle
2017-09-11 02:08:22 -07:00
540c0bdafb
mc_pos_control: accelerate faster
2017-09-11 02:08:22 -07:00
7a822c9db2
mc_pos_control: don't use slewrate in mission
2017-09-11 02:08:22 -07:00
267dbe9b7a
mc_pos_control: when close to current and previous, ajdust target velocity
2017-09-11 02:08:22 -07:00
0a37d8dc42
mc_pos_control: clarify speed params
2017-09-11 02:08:22 -07:00
9cfc57e4a6
mc_pos_control: rebase fix
2017-09-11 02:08:22 -07:00
3e4ab5ed59
mc_pos_control: when close to current and previous, ajdust target velocity
2017-09-11 02:08:22 -07:00
c4c18caed4
mc_pos_control auto: set speed at 90degrees to 1
2017-09-11 02:08:22 -07:00
38f796f991
mc pos control: More sign checks
2017-09-11 02:08:22 -07:00
a6108cc951
mc_pos_control: Use proper boundary checking when taking the norm of a vector
...
The previous method made too optimistic assumptions about the resolution of 32 bit floating point numbers.
2017-09-11 02:08:22 -07:00
4c4ee1af14
mc_pos_contol: sub eplsion with sigma, treat current behind independently
2017-09-11 02:08:22 -07:00
7734279f61
mc_pos_control: smooth transition between waypoint updates
2017-09-11 02:08:22 -07:00
3053b24761
mc_pos_control: auto remove min dist
2017-09-11 02:08:22 -07:00
8c5b1d33da
mc_pos_contol: add break when printing warning
2017-09-11 02:08:22 -07:00
13f8936cf1
mc_pos_control: warning for invalid thrust sp
2017-09-11 02:08:22 -07:00
e58766c394
MC pos controller: log exceptions but rate-limit them
2017-09-11 02:08:22 -07:00
11a4410500
mc_pos_control: revert protection against nan thrust sp
2017-09-11 02:08:22 -07:00
dae1093bec
mc_pos_control: auto logic description and sanity check for thrust setpoint
2017-09-11 02:08:22 -07:00
6e5fe947fe
mc_pos_control: add clarification to auto function and auto angle computation
2017-09-11 02:08:22 -07:00
e51e52f425
mc_pos_control: reorder auto logic and ensure that nan gets caught
2017-09-11 02:08:22 -07:00
eric