56ea4fa6fa
FlightTask StraighLine: check values before dividing
2018-08-12 09:37:05 -04:00
d3d549b8e6
FlightTask Smoothing: check dt before dividing
2018-08-12 09:37:05 -04:00
9a23295a40
heading update: do not update heading within NAV_ACC_RAD
2018-08-10 15:52:10 +02:00
2d9bbeb7ed
FlightTaskAuto: use the triplets from navigator and not with the internal
...
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
8096e84133
FlightTask: add padding to empty_trajectory_waypoint definition
2018-08-09 16:38:47 -04:00
10988f5bf1
FlightTask: add comment for method getAvoidanceWaypoint
2018-08-09 16:38:47 -04:00
aef41a1378
remove empty lines
2018-08-09 16:38:47 -04:00
ede302290b
FlightTasks: add getter method to retrieve empty avoidance waypoint in the
...
mc_pos_control
2018-08-09 16:38:47 -04:00
b856c1048d
FlightTask: add methods to get the desired trajectory waypoints
2018-08-09 16:38:47 -04:00
17a08a9de7
FlightTaskAuto: add update method to get triplets for the trajectory
...
interface
2018-08-09 16:38:47 -04:00
d480d24a4c
fix perf counter: use dprintf instead of printf
2018-08-08 21:09:39 +02:00
a7f3012c1c
delete all dokuwiki helpers
2018-08-08 14:07:59 -04:00
adfb54243c
FlightTasks: fix typo and improve comment
2018-08-08 13:44:49 +02:00
f6e1ab9034
FlightTasks: cmake - add and remove tasks
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add possibility to add additional tasks or to remove upstream tasks
2018-08-08 13:44:49 +02:00
89cc53755c
FlightTasks: set variable for python args
2018-08-08 13:44:49 +02:00
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
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
8090708f76
FlightTasks: generate tasks depending on target
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- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
2018-08-08 13:44:49 +02:00
34203f7e8c
FlightTasks: add header lib for sport
2018-08-08 13:44:49 +02:00
584838de30
FlightTasks: rename libs to use CamelCase convention
2018-08-08 13:44:49 +02:00
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
a40c983137
updated submodule src/lib/DriverFramework
2018-08-06 13:32:36 +02:00
4db149f6e7
mixer: set/get_trim needs to return the amount of channels consumed by the mixer even if the mixer doesn't support trims (or is empty)
2018-08-05 23:24:57 +02:00
f298d4bb4f
mixer: use global new line check for parsing the heli mixer
2018-08-05 23:24:57 +02:00
4a91074aaa
FlightTaskAuto: add comment
2018-08-03 08:24:34 +02:00
a24b614dec
FlightTaskAutoLine: generate heading along track if yaw setpoint is not valid
2018-08-03 08:24:34 +02:00
02feb10865
FlightTaskAuto: triplet yaw-setpoint has priority over MPC_YAW_MODE.
...
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
694f49c80a
FlightTaskAuto: method for computing heading from 2D vector
2018-08-03 08:24:34 +02:00
6cd16f345e
FlightTaskAuto: set heading based on yaw mode
2018-08-03 08:24:34 +02:00
f0282bcd8f
FlightTaskAuto/Line: make params protected and add NAC_ACC_RAD and MPC_YAW_MODE
2018-08-03 08:24:34 +02:00
7723860f37
remove unused constant
2018-08-02 09:23:17 +02:00
a06ff4a2ce
FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments
2018-08-02 09:23:17 +02:00
338ca3104c
FlightTaskAutoLine: remove activate method bc uses same impl as FlightTaskAutoMapper
2018-08-02 09:23:17 +02:00
3fe2646d80
FlightTaskAuto: add comments and fix variable naming convention
2018-08-02 09:23:17 +02:00
e13ca0d990
FlightTaskAuto: fix triplet reset
2018-08-02 09:23:17 +02:00
f379035a3b
FlightTaskAuto: move generation of the the internal waypoints to FlightTaskAuto such that they are available to all derived classes.
...
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
ade254394e
fix parameters subscription
2018-08-02 09:23:17 +02:00
3f2f399b91
FlightTaskAutoMapper: clean-up and fix comments
2018-08-02 09:23:17 +02:00
d85481be6d
Restructure FlightTaskAutoLine:
...
-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
6f204c4913
FlightTask initialize _dist_to_bottom
...
- fixes Coverity CID 306248
2018-08-02 08:06:08 +02:00
36fdd3a127
FlightTaskManualPosition initialize all fields
...
- fixes Coverity CID 306259
2018-08-02 08:06:08 +02:00
a90c7659ad
FlightTasks local position setpoint don't use copyRaw
...
- fixes Coverity CID 268659
2018-08-02 08:06:08 +02:00
8b1381ead9
update ecl l1 and usage for new roll angle setpoint slew rate limit ( #10005 )
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* added ability to slew rate limit the roll angle output of the l1 controller
* FixedWingPositionControl: this avoids the steps in roll angle setpoint which occur when the controller
switches to a new waypoint
* GroundRoverPositionControl: adapted to new l1 API
2018-08-01 14:01:41 -04:00
2c148f07bd
cdev: delete the prev_pollset in unlocked state
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Because it uses a semaphore.
2018-07-31 11:49:45 +02:00
13f2315314
CDev: add DEVICE_POLL_DEBUG macro that removes all poll debug output from the build by default
...
Reduces 'uorb_tests latency_test' by about 1us
2018-07-30 23:06:32 +02:00
99fd1f7213
CDev::poll_notify_one: remove checking the semaphore counter
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The check is unnecessary. In the worst case the semaphore gets unlocked
twice, but it's not an issue because the waiter is only interested in the
first sem_post(), and the semaphore is then not used anymore.
2018-07-30 23:06:32 +02:00
72773b75c3
CDev::poll: disable IRQs instead of using an expensive semaphore
...
poll() is one of the heavily used methods and thus needs to be optimized
as much as possible.
Test on Pixracer: uorb_tests latency_test
Before:
uORB note: ---------------- LATENCY TEST ------------------
INFO [uorb_tests] mean: 40.4320 us
INFO [uorb_tests] std dev: 1.3466 us
INFO [uorb_tests] min: 39 us
INFO [uorb_tests] max: 57 us
INFO [uorb_tests] missed topic updates: 0
This Patch:
uORB note: ---------------- LATENCY TEST ------------------
INFO [uorb_tests] mean: 31.3480 us
INFO [uorb_tests] std dev: 1.4584 us
INFO [uorb_tests] min: 30 us
INFO [uorb_tests] max: 45 us
INFO [uorb_tests] missed topic updates: 0
2018-07-30 23:06:32 +02:00
00e09524f7
SearchMin and BezierQuad: replace define with static constexpr ( #10050 )
2018-07-30 12:28:27 -04:00
658237f36a
px4fmu move RC input to new rc_input driver
2018-07-30 10:32:56 -04:00
56a7c63789
version lib fix BUILD_URI properly
2018-07-30 09:30:23 +02:00
ChristophTobler