6472b579dc
FlightTaskOrbit: switch rotation direction
...
Switch to positive tangential velocity being clockwise because with NED
frame z-axis points down and mathematically positive around the z-axis
results in clockwise yaw rotation when seen from above. Also MAVLink
messages and other components in PX4 are defined this way.
2018-07-24 15:03:53 +02:00
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
3b7d31de75
FlightTasks: reintroduce vehicle command handling
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The handling for vehicle commands inside the FlightTasks library
was already there but commented out because the previously used
MAVLink messages were tied to the specific application we used and
there was no clean common message definition. Because there is now
a well defined message for the orbit task I'm uncommenting and using
the working message handling again here.
2018-07-24 15:03:53 +02:00
93bab20510
FlightTaskOrbit: switch to FlightTaskAltitudeSmooth
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Nice smooth altitude control is already provided by the existing
flight task for altitude mode. We inherit from it to resuse the
functionality and just all its update first not altering the setpoints
for the z-axis it produced.
2018-07-24 15:03:53 +02:00
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
2b6926fe9d
FlightTaskOrbit: speed up stick input to a fixed time frame
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Maximum velocity achievable in 4 seconds,
maximum radius achievable in 8 seconds for futher testing.
These should be parameters as soon as it works fine.
2018-07-24 15:03:53 +02:00
33ba041120
FlightTaskOrbit: improve yaw tracking with feed-forward
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To make the vehicle front always point exactly to the center and not
lag behind.
2018-07-24 15:03:53 +02:00
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
79aaa59715
FlightTaskOrbit: adapt comments to convention and 2018
2018-07-24 15:03:53 +02:00
993d76c0da
FlightTaskOrbit: fix vehicle yawing to the center
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I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
2018-07-24 15:03:53 +02:00
99e58e2923
FlightTask StraightLine: make format
2018-07-24 08:40:05 +02:00
7e547e6322
FlightTask StraightLine: use 2D Vector and remove newline
2018-07-24 08:40:05 +02:00
ccd8a47015
FlightTask StraightLine: set origin and target at the same time
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This avoids issues with reseting/calculating the max vel/acc
2018-07-24 08:40:05 +02:00
9e8c3ff0dc
FlightTask StraightLine: check if target and origin are the same
2018-07-24 08:40:05 +02:00
8998714130
FlightTask StraightLine: remove unused target reached flag
2018-07-24 08:40:05 +02:00
090db6a115
FlightTask StraightLine: set max vel/acc/dec if value is bigger
2018-07-24 08:40:05 +02:00
c619009364
FlightTask StraightLine: replace powf(x,2) with x*x
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Apparently this is faster
2018-07-24 08:40:05 +02:00
8b3716c0df
FlightTask StraightLine: remove 10% safety margin
2018-07-23 12:54:39 +02:00
7e0976f0ef
FlightTaskStraightLine: fix braking distance corner cases
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check if target vel is bigger than desired vel
accelerate if already inside braking distance but vel is lower
2018-07-23 12:54:39 +02:00
e527a51de6
FlightTaskStraightLine: add descriptions for defines
2018-07-23 12:54:39 +02:00
37d4f714b2
FlightTaskStraightLine: replace define with parameter
2018-07-23 12:54:39 +02:00
ebceac5fff
FlightTasks: add lib for setpoints on a straight line
2018-07-23 12:54:39 +02:00
b1d3bb0403
stop ignoring Wmissing-field-initializers and fix ( #9912 )
2018-07-22 12:45:52 -04:00
73a7aa75a8
FlightTasks: update terrain hold transition logic.
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Use pre-existing MPC_HOLD_MAX_XY parameter for speed threshold.
Use _stick_expo variable for stick movement check.
Update documentation.
2018-07-22 17:42:31 +10:00
2baa6caacb
FlightTasks: Fix transition between use of local and ground height (+2 squashed commits)
...
Squashed commits:
[ed2a243] FlightTasks: Preserve control loop tuning when applying max altitude limit
[b33b947] FlightTasks: Add terrain hold function
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
2018-07-22 17:42:31 +10:00
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
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before applying limits
2018-07-20 09:26:18 +02:00
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
...
to position lock.
2018-07-20 09:26:18 +02:00
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
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below minimum distance to ground.
2018-07-20 09:26:18 +02:00
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
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distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
2af253fa9f
FlightTaskManual: sticks not to be finite
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activation method not needed
2018-07-20 09:26:18 +02:00
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
MaEtUgR