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32 Commits
Author SHA1 Message Date
Matthias Grob 37190d4928 navigator: refactor naming of break instead of brake functions 2024-10-25 13:56:20 +02:00
Matthias Grob b8a602414d navigator land: don't project VTOL braking waypoint without global position 2024-10-25 13:56:20 +02:00
Silvan Fuhrer b6eb8dbfd9 Navigator: land: set lat/lon fields of triplet to NAN if global position is not valid 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-10-25 13:56:20 +02:00
Claudio ChiesandSilvan Fuhrer ee022a70c1 Navigator: Land: Improve it for VTOL by taking breaking distance into account (#23566) 
* vtol adjust landing setpoint

* improve comment

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-22 14:10:36 +02:00
Claudio Chies e29a36adb4 Landing horizontal velocity compensation / unsteady landing (#23546) 
* initial working

* implemented feedback
 2024-08-19 08:01:43 +02:00
bresch 1fa878ad88 navigator: add navigation state ID to every mode class 2024-08-14 11:08:02 +02:00
Silvan Fuhrer 8a75733511 Navigator: fix VTOL land waypoint calculation 
The setpoint.yaw can be NAN, and this made the calculated land point NAN
as well. Looking at the current yaw is anyway a better way to approximate
the course over ground that fundamentally should be used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-19 14:54:28 +01:00
Silvan Fuhrer b0df7c7ccb RTL/Land: set gimbal to neutral to reduce change of damage 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 13:19:09 +01:00
Matthias Grob 9bed8f48c7 Remove LNDMC_ALT_MAX 
This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
 2023-11-20 14:52:35 +01:00
Silvan Fuhrer 48acf98fd5 Navigator: remove deprecated _can_loiter_at_sp and _need_takeoff 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Andrew Wilkins cdc717be53 Speed reset when switching flight modes (#21414) 
* speed reset between flight modes

* no whitespace
 2023-04-27 17:32:43 +02:00
Silvan Fuhrer 37b6dccda9 Land: use MIS_LND_ABRT_ALT also in non-mission Land 
As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer c47210fc77 FWPositionController: add support for circular landings 
Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Silvan Fuhrer eaa4180920 Navigator: remove ununsed argument from set_land_item() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-20 17:04:39 +01:00
Beat Küng 3f2336af32 navigator: add ModeCompleted signalling topic 2023-02-07 19:11:52 -05:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
Jake Dahl 7c84e77312 we used to check if we have actually landed not mission reached in navigator 2018-07-26 07:45:00 +02:00
Beat Küng f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Daniel Agar 25c7a03a8b Navigator remove unnecessary calls to updateParams 
- the SuperBlock already does this
 2018-01-14 12:53:53 +01:00
Daniel Agar f87402b16c navigator remove redundant param updates 2018-01-04 09:21:17 +01:00
lamping7 63718bf27b fix MISSION_ITEM REACHED message broadcast (#8332) 2017-12-10 02:30:58 -05:00
sanderux fd6f2192ac Code style 2017-10-15 15:34:59 +02:00
sanderux b01d887700 When switching to land in VTOL, update land target during back transition 2017-10-15 15:34:59 +02:00
Dennis Mannhart 8a0a8e20e1 mc_pos_control: use correct altitude as limit 
fadfdasf
 2017-10-10 10:28:07 +02:00
Dennis Mannhart f9b8afc006 Navigator: Use maximum flight altitude to limit missions 
This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
 2017-10-10 10:28:07 +02:00
Daniel Agar 3c18be387c ROI - move handling to navigator (#7939) 2017-09-26 12:25:02 -04:00
Daniel Agar 6f10f8de9a navigator begin fixing code style 2016-11-19 15:16:00 +01:00
Lorenz Meier 098db8595f Style fix 2016-05-10 12:40:28 +02:00
Julian Oes bba0d0384d drivers/modules: changes after mavlink_log change 
The mavlink_log API changes lead to changes in all drivers/modules using
it.
 2016-03-24 13:10:02 +01:00
Andreas Antener fe90e7882b do mission notifications for landing, switch to idle setpoint when landed 2015-12-28 15:23:20 +01:00
Andreas Antener 09b5bdb1ee in mc auto: do not reset the position sp while near the waypoint, should make switching to manual pos control smoother 2015-12-28 15:23:20 +01:00
Andreas Antener fbf42c8949 added auto takeoff support, updated configuration for solo and generalized landing mission items 2015-12-28 15:21:50 +01:00