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1528 Commits
Author SHA1 Message Date
Matthias Grob 56b54d7b85 FlightTaskManual: Smooth flight integration: prepare interface of acceleartion methods for xy and z 2018-04-05 07:30:12 +02:00
Matthias Grob 634a67d058 FlightTaskManual: Smooth flight integration: slewrate now works, set to 0.2m/s^2 in all dimensions for testing 2018-04-05 07:30:12 +02:00
Matthias Grob 0d8d24e36d FlightTaskManual: Smooth flight integration: replace all "dt"s with the local _deltatime 2018-04-05 07:30:12 +02:00
Matthias Grob 1f65717292 FlightTaskManual: Smooth flight integration: Make vel_sp_slewrate without any refactoring compile 
analyzing detailed semantic and external uses of the variables still necessary
 2018-04-05 07:30:12 +02:00
Matthias Grob 1b858f5e56 FlightTaskManual: Smooth flight integration: Copy over vel_sp_slewrate without any changes 2018-04-05 07:30:12 +02:00
Matthias Grob 5854fa06e9 FlightTaskManual: Smooth flight integration: Make set_manual_acceleration_z without any refactoring compile 
analyzing detailed semantic and external uses of the variables still necessary
 2018-04-05 07:30:12 +02:00
Matthias Grob 316e85f7ef FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_z without any changes 2018-04-05 07:30:12 +02:00
Matthias Grob cb096861d9 FlightTaskManual: Smooth flight integration: Make set_manual_acceleration_xy without any refactoring compile 
analyzing detailed semantic and external uses of the variables still necessary
 2018-04-05 07:30:12 +02:00
Matthias Grob e6442c7a7c FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_xy without any changes 2018-04-05 07:30:12 +02:00
Matthias Grob 6c0e7654ed FlightTasks: added handling for switching to the already active task and success feedback 
removed and added comments
 2018-04-05 07:30:12 +02:00
Matthias Grob 018581faca FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly 2018-04-05 07:30:12 +02:00
Matthias Grob 4d05193ad7 FlightTasks: switched to a block hierarchy with parameter names like TSK_ORB_RADIUS in mind 2018-04-05 07:30:12 +02:00
Matthias Grob 9437326b01 FlightTaskOrbit: altered initialisation and limiting of parameters for demonstration 2018-04-05 07:30:12 +02:00
Matthias Grob 01383a0eeb FlightTaskManual: Basic manual position controlled flight with position and altitude hold works 2018-04-05 07:30:12 +02:00
Matthias Grob f2250c1952 FlightTasks: made a FlightTask inherit from SuperBlock to have Block::Subscription s 
FlightTask Manual: subscription made setpoint conversion according to vehicle attitude work
 2018-04-05 07:30:12 +02:00
Matthias Grob a8a2b4b6f3 FlightTasks: switched output position setpoint to be pointer based 
changed "NULL"-pointers to "nullptr" for better compliance
 2018-04-05 07:30:12 +02:00
Matthias Grob 28f4d18062 FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight 
it's a draft and only works for velocity setpoints oriented in NED frame yet

# Conflicts:
#	src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
 2018-04-05 07:30:12 +02:00
Matthias Grob a9d0990bb8 FlightTasks: added a temporary hardware switch for task switch testing 2018-04-05 07:30:12 +02:00
Matthias Grob 73f633dfd2 FlightTasks: added possibility to set velocity setpoint, switched Orbit to feedback velocity algorithm 2018-04-05 07:30:12 +02:00
Matthias Grob e51e5f3e01 FlightTaskOrbit: added constraints for parameters & defined linear velocity instead of angular 2018-04-05 07:30:12 +02:00
Matthias Grob 88bf40e3cb FlightTasks: added simple task switching with possibility do disable FlightTasks completely 2018-04-05 07:30:12 +02:00
Matthias Grob 37cb8c1a59 FlightTasks: added access to prepared velocity state for every task 2018-04-05 07:30:12 +02:00
Matthias Grob 8da1d3b16e FlightTasks: give every FlightTask access to prepared stick input and position state 2018-04-05 07:30:12 +02:00
Matthias Grob 225f99af16 FlightTasks: created an array for all tasks and a method to set the general input pointers for all of them 2018-04-05 07:30:12 +02:00
Matthias Grob 32a1ff733d FlightTasks: switch input from pointers in parameters passed on every run to private pointers of the base class with safety getter and setter 2018-04-05 07:30:12 +02:00
Matthias Grob f3357aeca4 FlightTasks: make the orbit example actually orbit 2018-04-05 07:30:12 +02:00
Matthias Grob b52f541492 FlightTasks: added timer in base class that counts from activation on including possibility to reset in subclass 2018-04-05 07:30:12 +02:00
Matthias Grob c21c36dd8d FlightTasks: added wrappers for filling setpoint vectors, made time dependent example 2018-04-05 07:30:12 +02:00
Matthias Grob 93ae260f44 FlightTasks: introduce new library to handle advanced features like orbit follow me and so on 
it's only a draft setup yet and not functional for real use

the object is for now managed by the mc_pos_control module
but it stays as encapsulated as possible to enable the instance to reside in any trajectory module in the future
 2018-04-05 07:30:12 +02:00
PX4 Jenkins acc93092db Update submodule matrix to latest Sun Apr 1 21:55:42 UTC 2018 
- matrix in PX4/Firmware (76a3dbc9df): https://github.com/PX4/Matrix/commit/e7c95fa027675f38f14b06344bf9855883013727
 - matrix current upstream: https://github.com/PX4/Matrix/commit/21d47424c6050bb94da5de3f7580a8df66b6fcc7
 - Changes: https://github.com/PX4/Matrix/compare/e7c95fa027675f38f14b06344bf9855883013727...21d47424c6050bb94da5de3f7580a8df66b6fcc7

21d4742 2018-03-31 Daniel Agar - Quaternion mark const helpers const
 2018-04-01 18:54:38 -04:00
PX4 Jenkins 76a3dbc9df Update submodule matrix to latest Sun Apr 1 17:27:33 UTC 2018 
Latest: https://github.com/PX4/Matrix/commit/e7c95fa027675f38f14b06344bf9855883013727

Changes from matrix (https://github.com/PX4/Matrix/commit/61af508755c59d177c4e61a35cbfa270b06d9684) in current PX4/master (9fc1755c33)
https://github.com/PX4/Matrix/compare/61af508755c59d177c4e61a35cbfa270b06d9684...e7c95fa027675f38f14b06344bf9855883013727

e7c95fa 2018-03-27 James Goppert - Fix README/cmake format.
d142ac2 2018-03-27 James Goppert - Fix coverage and bug in matrix equal test.
50446a5 2018-03-18 Daniel Agar - Matrix add == and != operators
 2018-04-01 15:16:46 -04:00
PX4 Jenkins 059ddf88f4 Update submodule DriverFramework to latest Sun Apr 1 18:11:03 UTC 2018 
- DriverFramework in PX4/Firmware (82a7343a7d): https://github.com/PX4/DriverFramework/commit/29f386628af2c9dd6a95cb873d0624c0c0c58381
 - DriverFramework current upstream: https://github.com/PX4/DriverFramework/commit/f98ea65e9bd35a8d2bdedd39e519b7320fe82b16
 - Changes: https://github.com/PX4/DriverFramework/compare/29f386628af2c9dd6a95cb873d0624c0c0c58381...f98ea65e9bd35a8d2bdedd39e519b7320fe82b16

f98ea65 2018-01-15 Daniel Agar - remove platforms__nuttx dependency
 2018-04-01 14:59:52 -04:00
PX4 Jenkins 82a7343a7d Update submodule ecl to latest Sun Apr 1 17:26:07 UTC 2018 
Latest: https://github.com/PX4/ecl/commit/ba2b9dfdd96d50d697165407b88b5bc94cdef84c

Changes from ecl (https://github.com/PX4/ecl/commit/39b69af9bf8340790011c7c2723d4ed725ea0a3b) in current PX4/master (9fc1755c33)
https://github.com/PX4/ecl/compare/39b69af9bf8340790011c7c2723d4ed725ea0a3b...ba2b9dfdd96d50d697165407b88b5bc94cdef84c

ba2b9df 2018-03-28 Daniel Agar - update matrix lib usage
 2018-04-01 14:09:46 -04:00
Beat Küng 576f4e02da tunes: fix constness for _default_tunes 
_default_tunes was marked as 'const char *' array, which means the data
of the array was not actually const and thus landed in the data section
(so in RAM instead of FLASH).
The size of the array is 64 bytes.
 2018-03-29 10:06:21 -04:00
Daniel Agar d8de624851 update ECL to latest with geo lib 2018-03-26 23:16:55 -04:00
Daniel Agar 29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Alessandro Simovic 9d3dfb7864 libtunes: addressing comments of #9117 2018-03-26 14:54:23 +02:00
Alessandro Simovic 6e1c495268 libtunes: added TUNE_MAX_STRENGTH 2018-03-26 14:54:23 +02:00
Alessandro Simovic 80d80835a0 libtunes: fixed some type conversions and other minor changes 2018-03-26 14:54:23 +02:00
Alessandro Simovic 92b89368f1 libtunes: fixed playback of string melodies 2018-03-26 14:54:23 +02:00
Alessandro Simovic 7d9b09b5e5 libtunes: made logic in Tunes::set_control() more obvious 2018-03-26 14:54:23 +02:00
Alessandro Simovic 4e479b7f04 libtunes: renamed config_tone() to reset() 2018-03-26 14:54:23 +02:00
Alessandro Simovic 6ce839ea1e libtunes: added tone strength as state and output to libtunes 
Since the tune library also contains logic how tunes can be overriden,
a user of the tunes library cannot know the strength of the current tune
without replicating some logic. Easy solution is to add strength to the
output of Tunes::get_next_tune().
 2018-03-26 14:54:23 +02:00
Alessandro Simovic acdc81ea0a libtunes: cleanup / docs 2018-03-26 14:54:23 +02:00
Alessandro Simovic d455c1e7e1 libtunes: Repeating tunes can be interrupted without override 
Otherwise the only way of interrupting a repeated tune would be with the override flag, which should only be used rarely.
Now repeating tunes have lowest priority, followed by one-shot tunes, followed by anything with an override flag.
 2018-03-26 14:54:23 +02:00
Alessandro Simovic 34836a2b21 libtunes: allow custom tune (id 0) to be used to stop playback. 
Override flag must still be set to true!
 2018-03-26 14:54:23 +02:00
Alessandro Simovic 2cf93df918 libtunes: _repeat was uninitialized. Defaulting to false now. 
Bugfix: This fixes a bug where libtunes might indicate that there are more tones to play even after the last note of a tune.
 2018-03-26 14:54:23 +02:00
Alessandro Simovic f47443f283 libtunes: (bugfix) sending a custom msg tune overrides everything 
Custom msg tune can override any tune playing, regardless of the tune_override flag.
 2018-03-26 14:54:23 +02:00
bresch 81a80e0d56 Airmode - Minor rewording 2018-03-23 10:35:08 +01:00
bresch 7ef3ae8828 Multicopter mixer - Recompute safe roll_pitch_scale if not in air-mode 
If not in air-mode the mixer is not able to apply positive boosting
and roll_pitch_scale is recomputed to apply symmetric - reduced - thrust.
This has the consequence to cut completely the outputs when the thrust is
set to zero.
 2018-03-23 10:35:08 +01:00