c97dca0cdb
MC pos control: Differentiate between cruise and max velocity
2016-03-13 18:09:52 +01:00
f73148e98d
mc pos control: Support do change speed
2016-03-13 18:08:25 +01:00
a62046625b
mc_pos_control: only reset position setpoint if we are not in rotary wing mode
2016-03-07 21:14:41 +01:00
2d2b0a2d43
mc pos: in auto mode reset the position to current position. Velocity controller ensures continuous attitude setpoint
2016-03-04 08:45:13 +01:00
9297a02ac2
move code which clears the pos and alt hold flags to the correct place.
...
this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.
2016-03-04 08:45:13 +01:00
989a4a0984
mc pos control:
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-when switching into vel control mode (xy) choose vel sp such that attitude
setpoint is continuous
2016-03-04 08:45:13 +01:00
7adaccfe67
Higher default gains for multicopter position control
2016-02-29 15:17:12 +01:00
473eea154f
MC position control: Hold position more aggressively
2016-02-27 12:12:26 +01:00
5aaf74bbe6
MC pos control: Allow higher yaw rate by default
2016-02-27 11:23:40 +01:00
267158751e
Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:45 +01:00
014f15d8b0
Rebase changes on upstream master
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This brings in many of the changes from the PX4 fork on ATLFLight.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:43 +01:00
29f8409445
Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:42 +01:00
9f3bf8e9f4
Rebase changes on upstream master
...
This brings in many of the changes from the PX4 fork on ATLFLight.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-02-19 16:59:41 +01:00
d5d3b63dc8
delete parameter MPC_HOLD_Z_DZ
2016-02-17 15:23:16 +01:00
8cd4b57c6b
add parameters for adjusting ALTCTL deadband
2016-02-17 15:22:28 +01:00
ead3eeda6c
expand description of MPC_THR_HOVER parameter
2016-02-17 15:22:28 +01:00
5de7c7e426
zero altctl deadband
2016-02-17 15:22:28 +01:00
159abb9b00
add parameter for hover throttle setting
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and tighten z deadband
2016-02-17 15:22:28 +01:00
101ac63737
change altctl throttle deadband to 2 point curve
2016-02-17 15:21:37 +01:00
48e2053f98
fixed code style
2016-02-16 10:26:13 +01:00
f11a619bf8
multirotor landing:
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prevent sudden thrust setpoints when vehicle has reached ground
after landing
2016-02-16 10:26:13 +01:00
7db35337da
use control flag to decide if we enable wv or not
2016-02-15 09:48:37 +01:00
80f8fcbdf6
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:48:37 +01:00
e46824e784
MC pos control: Param meta data
2016-02-14 18:43:58 +01:00
2ff9fd64b1
increased stack sizes for mc and fw pos ctl
2016-02-11 16:53:35 +01:00
38ecec86f7
mc pos control:
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do not run takeoff code when disarmed
2016-02-11 16:53:35 +01:00
26c635359e
updated some message severities and clarified reset in pos controller
2016-02-08 11:09:11 +01:00
f8f208dbe6
vtol: reset multirotor positon and altitude
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when not in rotary wing mode
2016-02-08 11:09:11 +01:00
0aff2e6c09
limit takeoff and land velocity to max z velocity
2016-02-02 21:35:18 +01:00
f35e3335be
- only use takeoff strategy when in auto mode
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- after jumped takeoff set previous vel setpoint such
that thrust setpoint is continuous
2016-01-27 11:47:41 +01:00
ba169ce0b5
do not do jumped takeoff if already in air
2016-01-27 09:55:47 +01:00
5ea5ecf32b
Limit manual yaw command properly. Fixes #3600
2016-01-26 14:08:43 +01:00
9e2dd7aab6
landing without thrust limiting
2016-01-22 11:51:38 +01:00
7a8adaa591
multirotor landinging sudden fall protection:
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remove condition which made activation of the protection
very unlikely
2016-01-22 11:51:38 +01:00
4614511474
use set takeoff speed
2016-01-21 10:18:13 +01:00
7817924aef
multirotor takeoff:
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instead of altering the velocity setpoint for the vehicle to takeoff
use the thrust setpoint directly. this does not depend on the tuning of
the velocity loop.
2016-01-21 10:18:13 +01:00
be1db2ced5
quick fix:
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Remove throttle non-increase condition for landing since this has lead to
quads falling out of the sky.
2016-01-15 16:15:27 +01:00
c0e88e262c
Drop man min throttle to 8% since its a continous user complaint
2016-01-14 23:50:37 +01:00
21b99b408c
Yaw fix: increase threshold
2016-01-11 11:58:13 +01:00
79e7059eaf
Fix yaw when in manual mode during arming
2016-01-11 11:58:13 +01:00
f22c574b87
Integrated cmake_hexagon for qurt build
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Still a WIP since the IDL file needs to be replace with the
muorb IDL file.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-01-10 20:54:26 +01:00
99f4487cc3
allow yawing with 0 throttle, changed condition to not being landed
2016-01-06 08:33:51 +01:00
68c9c4ae0f
better defaults for relevant landing/takeoff parameters
2015-12-28 15:23:20 +01:00
b5f3c2d30d
ramp up jump velocity instead doing a huge step
2015-12-28 15:23:20 +01:00
98bec0e175
also filter acceleration to filter out the bump on the ground on landing
2015-12-28 15:23:20 +01:00
e0405617ef
also don't reset possp if near a loiter sp
2015-12-28 15:23:20 +01:00
ee0aa7b37d
recalculate absolute thrust before limiting
2015-12-28 15:23:20 +01:00
d9878493bd
cleaning up takeoff/landing logic, commenting on magic values
2015-12-28 15:23:20 +01:00
05a73d2821
added takeoff logic for position controller to get the uav off the ground fast and transition smoothly to poctl after takeoff, added landing logic to reduce thrust to zero once on the ground
2015-12-28 15:23:20 +01:00
ea7a1a92b5
correct thrust limiting during landing with margin, don't reset position setpoint when switching from takeoff to posctl and allow high enough z velocity for position lock
2015-12-28 15:23:20 +01:00
Lorenz Meier