fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 14:01:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
23,543 Commits 852 Branches 161 Tags
5bea264a5f014d0468293c19081a295c4f87573e
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
Dennis Mannhart 82f25453a7 mc_pos_control: smooth position control from stick input 2017-09-18 13:30:16 +02:00
Dennis Mannhart 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
Dennis Mannhart 22be99da3e mc_pos_control: change name _pos_first_nofinite to _triplet_lat_lon_finite 2017-09-11 02:08:22 -07:00
Dennis Mannhart cdb610a453 mc_pos_control: remove _limit_vel_xy 2017-09-11 02:08:22 -07:00
Dennis Mannhart 9ea465b66b mc_pos_control auto: fix curr pos sp mapping to local frame 2017-09-11 02:08:22 -07:00
Dennis Mannhart cb9efd7119 mc_pos_control: remove unused defines and add SIGMA 2017-09-11 02:08:22 -07:00
Dennis Mannhart 352f86fff4 mc_pos_control reintegration fixes of duplicates, unused parameter and order 2017-09-11 02:08:22 -07:00
Dennis Mannhart bf5e81a34f mc_pos_control param: acceleration parameters adjustment and addition 2017-09-11 02:08:22 -07:00
Dennis Mannhart 10a9c410e3 mc_pos_control: parameter for maximum horizontal velocity 2017-09-11 02:08:22 -07:00
Dennis Mannhart 8eca82022c mc_pos_control: sub param.acc with block param 2017-09-11 02:08:22 -07:00
Dennis Mannhart 44e4beeeec mc_pos_control: check if triplets are valid, otherwise ignore 2017-09-11 02:08:22 -07:00
Dennis Mannhart 5b03c5f68e navigator: reset triplets during onboard/offboard mission update 2017-09-11 02:08:22 -07:00
Dennis Mannhart c84c7cdcb4 mc_pos_control: set previous triplet point to invalid when switching to manual 2017-09-11 02:08:22 -07:00
Dennis Mannhart 2ceb703613 mc_pos_control: use math::constrain 2017-09-11 02:08:22 -07:00
Dennis Mannhart 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
Dennis Mannhart 3538f028b4 mc_pos_control: use 0.5 of acceleration for auto 2017-09-11 02:08:22 -07:00
Dennis Mannhart 807d45c99c mc_pos_control slowing down close to target take over previous setpoint if low 2017-09-11 02:08:22 -07:00
Dennis Mannhart ac3321dc6c mc_pos_control: distinguish between up and down acceleration 2017-09-11 02:08:22 -07:00
Dennis Mannhart c1199d1202 mission don't apply slewrate for altitude 2017-09-11 02:08:22 -07:00
Dennis Mannhart 9ec0d72f3c mc_pos_control: make sure that passing waypoint only allowed if altitude is reached 2017-09-11 02:08:22 -07:00
Dennis Mannhart b769d1cee0 mc_pos_control auto: apply auto logic for z-direction 2017-09-11 02:08:22 -07:00
Dennis Mannhart 2655c72cea mission: remove altitude foh for rotarywing 2017-09-11 02:08:22 -07:00
Dennis Mannhart 8e99c73f49 mc_pos_control: don't divide by zero 2017-09-11 02:08:22 -07:00
Dennis Mannhart cb820a168a mc_pos_control: use original targethreshold when computing target_velocity 2017-09-11 02:08:22 -07:00
Dennis Mannhart 08d15f5402 mc_pos_control: remove target threshold from auto 2017-09-11 02:08:22 -07:00
Dennis Mannhart dbed42a720 mc_pos_control auto: ensure the order of cruise speeds during mission 2017-09-11 02:08:22 -07:00
Dennis Mannhart 3f73a56f5a mc_pos_control: accelerate faster in auto and increase speed at 90degrees angle 2017-09-11 02:08:22 -07:00
Dennis Mannhart 540c0bdafb mc_pos_control: accelerate faster 2017-09-11 02:08:22 -07:00
Dennis Mannhart 7a822c9db2 mc_pos_control: don't use slewrate in mission 2017-09-11 02:08:22 -07:00
Dennis Mannhart 267dbe9b7a mc_pos_control: when close to current and previous, ajdust target velocity 2017-09-11 02:08:22 -07:00
Dennis Mannhart 0a37d8dc42 mc_pos_control: clarify speed params 2017-09-11 02:08:22 -07:00
Dennis Mannhart 9cfc57e4a6 mc_pos_control: rebase fix 2017-09-11 02:08:22 -07:00
Dennis Mannhart 3e4ab5ed59 mc_pos_control: when close to current and previous, ajdust target velocity 2017-09-11 02:08:22 -07:00
Dennis Mannhart c4c18caed4 mc_pos_control auto: set speed at 90degrees to 1 2017-09-11 02:08:22 -07:00
Dennis Mannhart 4c4ee1af14 mc_pos_contol: sub eplsion with sigma, treat current behind independently 2017-09-11 02:08:22 -07:00
Dennis Mannhart 7734279f61 mc_pos_control: smooth transition between waypoint updates 2017-09-11 02:08:22 -07:00
Dennis Mannhart 3053b24761 mc_pos_control: auto remove min dist 2017-09-11 02:08:22 -07:00
Dennis Mannhart 8c5b1d33da mc_pos_contol: add break when printing warning 2017-09-11 02:08:22 -07:00
Dennis Mannhart 13f8936cf1 mc_pos_control: warning for invalid thrust sp 2017-09-11 02:08:22 -07:00
Dennis Mannhart 11a4410500 mc_pos_control: revert protection against nan thrust sp 2017-09-11 02:08:22 -07:00
Dennis Mannhart dae1093bec mc_pos_control: auto logic description and sanity check for thrust setpoint 2017-09-11 02:08:22 -07:00
Dennis Mannhart 6e5fe947fe mc_pos_control: add clarification to auto function and auto angle computation 2017-09-11 02:08:22 -07:00
Dennis Mannhart e51e52f425 mc_pos_control: reorder auto logic and ensure that nan gets caught 2017-09-11 02:08:22 -07:00
Dennis Mannhart 5d4486c920 mc_pos_control: only follow line if longer than 0.1 2017-09-11 02:08:22 -07:00
Dennis Mannhart 50e3c4067a mc_pos_control: update _curr_pos_sp all the time 2017-09-11 02:08:22 -07:00
Dennis Mannhart 9dc5051504 mc_pos_control auto: use current velocity if smaller than velocity setpoint when slowing down 2017-09-11 02:08:22 -07:00
Dennis Mannhart a84baa1dcc mc_pos_control auto: adjust velocity only along track; use vector instead of point 2017-09-11 02:08:22 -07:00
Dennis Mannhart 2735280ffc mc_pos_control auto: treat off the track differently depending on position 2017-09-11 02:08:22 -07:00
Dennis Mannhart a7be9854d9 mc_pos_control: remove scaling in auto and remove limit_velocity function; update auto logic 2017-09-11 02:08:22 -07:00
Dennis Mannhart e39b38ba96 landdetector groundcontact: adjust climbrate if landing speed is low 2017-08-21 20:38:07 +02:00
Dennis Mannhart f50052f290 landdetector mc: widen acceptance threshold after landing instead of arming 2017-08-15 10:30:29 +02:00
Dennis Mannhart a95f02b4a1 land-detector description fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart f26972704e style fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart e6f7af2dcf landdetector + mc_pos_control cherry-pick fix 2017-08-01 19:31:34 +02:00
Dennis Mannhart 69ecfef8a4 landdetector: consider 8 second maybe_landed case only if no rotation present 2017-08-01 19:31:34 +02:00
Dennis Mannhart ec04577e3a mc_pos_control: consider landing if not auto takeoff and valid 2017-08-01 19:31:34 +02:00
Dennis Mannhart 4692ccf287 mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint 2017-08-01 19:31:34 +02:00
Dennis Mannhart 03d86054a4 landdetector: decrease land detection to 0.3 2017-08-01 19:31:34 +02:00
Dennis Mannhart 10c41e2624 land xy max: set it back to 1.5 2017-08-01 19:31:34 +02:00
Dennis Mannhart 50ef2d0e52 landdetector: adjust time to 3 stage detection 2017-08-01 19:31:34 +02:00
Dennis Mannhart 9baf41bef1 landdetector: check horizontal movement as criteria to enter ground contact 2017-08-01 19:31:34 +02:00
Dennis Mannhart bc46f13d90 landdetector: use control mode, add minimum speed to detect hit-ground 2017-08-01 19:31:34 +02:00
Dennis Mannhart 549d8da6ee landdetector: hit ground logic 2017-08-01 19:31:34 +02:00
Dennis Mannhart 363ed43d38 mc_pos_control: remove additional land-ground contact logic 2017-08-01 19:31:34 +02:00
Dennis Mannhart 2405abd859 mc landdetector description 2017-08-01 19:31:34 +02:00
Dennis Mannhart 4e204e00cb landdetector: maybe_landed for rover 2017-08-01 19:31:34 +02:00
Dennis Mannhart 8f7ebc1f3a mc landdetector: simplify return 2017-08-01 19:31:34 +02:00
Dennis Mannhart 8a76bd07d0 mc_pos_control: change if to else if 2017-08-01 19:31:34 +02:00
Dennis Mannhart f75dd37326 landdetector: delete or for ground_contact detection 2017-08-01 19:31:34 +02:00
Dennis Mannhart 2890af7305 mc_pos_control: set thrust to zero once maybe_landed is reached 2017-08-01 19:31:34 +02:00
Dennis Mannhart 411ceaa6b3 multicopter landdetector: delete PX4_INFO 2017-08-01 19:31:34 +02:00
Dennis Mannhart 97b5cc77b8 landdetector: reduce maybe_landed trigger time to 1s 2017-08-01 19:31:34 +02:00
Dennis Mannhart f8e9f380d0 landdetector: add additional landdetection state 2017-08-01 19:31:34 +02:00
Dennis Mannhart eb17d4b5f3 MC landdetector: update description 2017-07-14 11:57:11 +02:00
Dennis Mannhart 1c2d54397f mc_pos_control: move constraints to the end 2017-07-07 18:25:35 +02:00
Dennis Mannhart 2758a4a6fa mc_pos_control: add warn_rate limit function 2017-07-07 18:25:35 +02:00
Dennis Mannhart e0d81b4c5e mc_pos_control: if triplet not valid in z ignore it 2017-06-07 16:43:36 +02:00
Dennis Mannhart 2a943f4bd0 mc_pos_control: only set current_setpoint to true if triplet valid 2017-06-07 16:43:36 +02:00
Dennis Mannhart 32685338c9 mc_pos_control: simplify transition with just using triplets 2017-05-15 15:41:47 +02:00
Dennis Mannhart a98c0ef25d mc_pos_control: during transition set vel_sp to zero 2017-05-15 15:41:47 +02:00
Dennis Mannhart 1ee160a5ff navigator takeoff: use global yaw instead of home yaw 2017-05-15 15:41:47 +02:00
Dennis Mannhart 00c9e4b79f mc_pos_control: set triplets.valid to first time when landed 2017-05-15 15:41:47 +02:00
Dennis Mannhart 9e383f2cd3 navigator: when landed only exit idle if mission/takoff 2017-05-15 15:41:47 +02:00
Dennis Mannhart 29795fa95f mc_pos_control: switch to auto only if triplets have been updated 2017-05-09 11:54:50 +02:00
Dennis Mannhart 340773096d landdetector: exit landing state if manual.z is larger than threshold 2017-04-13 16:59:23 +02:00
Dennis Mannhart 8687d414bf mc_pos_control: new variable that defines speed in manual controlled mode 2017-04-10 21:34:00 +02:00
Dennis Mannhart 4ff3fb4dee mc_pos_control: if takeoff setpoint in auto mode, then do not enter ground contact 2017-04-09 17:19:28 +02:00
Dennis Mannhart 419c474d53 mc_pos_control: manual input temporary yaw fix 2017-03-30 16:43:43 +02:00
Dennis Mannhart be500723cd mc_pos_control: gradual vel fix for slope 2017-03-22 15:21:34 +01:00
Dennis Mannhart 20a47a1a72 mc_pos_control: limit if just xy distance close to target 2017-03-22 15:21:34 +01:00
Dennis Mannhart f9551c12de mc_pos_control: param fix and gradual vel fix 2017-03-22 15:21:34 +01:00
Dennis Mannhart cd8cc1beaa mc_pos_control: use blockparam, change variable name, delete unused variables 2017-03-22 15:21:34 +01:00
Dennis Mannhart 4c4f214ec7 mc_pos_control: target_threshold value change 
mc_pos_control: reorder if statement

mc_pos_control:  add get function for cruising speed
 2017-03-22 15:21:34 +01:00
Dennis Mannhart 0d6f994145 mc_pos_control: slow down in auto when close to target 
mc_pos_control: move limit vel xy after velocity controller
 2017-03-22 15:21:34 +01:00
Dennis Mannhart 8e5a573cb3 mc_pos_control: add default only if there is no previous setpoint 2017-03-22 15:21:34 +01:00
Dennis Mannhart fd3889b5a6 mc pos control: auto handling such that it does not use slewrate when goint to pos 2017-03-22 15:21:34 +01:00
Dennis Mannhart 8f1e851911 Stick to velocity fix (#6825) 
* mc_pos_control: use just float for vel and cruise in xy

* mc_pos_control: stick map saturate magnitude to 1

* mc_pos_control: take minimum cruising speed for auto

* mc_pos_control: cruise speed triplet higher than from mc_pos_control

mc_pos_control: fix if for cruise in auto

* mc_pos_control: use PX4_ISFINITE criteria
 2017-03-21 07:58:47 +01:00
Dennis Mannhart c9643cb075 mc_pos_control: delete leftover from transitional changes for vel_max_z (#6822) 2017-03-20 10:06:29 +01:00
Dennis Mannhart 31aff0b6c0 mc_pos_control: change yaw setpoint to yaw (#6854) 2017-03-20 10:05:33 +01:00
Dennis Mannhart f5ae90a7cb mavlink_main: add POSITION_TARGET_LOCAL_NED to mavlink stream 2017-03-03 07:23:02 +01:00