6488acf8cd
msg: vehicle_local_position_setpoint comment about usage of NaN
2018-04-05 07:30:12 +02:00
92acbfde3e
FlightTasks: FlightTask definition to cpp, fix include chain, fix cmake
2018-04-05 07:30:12 +02:00
c211c807ad
FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library
2018-04-05 07:30:12 +02:00
3450ccb2b2
FlightTaskOrbit: Fix zero vector resulting in NaN output and ignored setpoint
2018-04-05 07:30:12 +02:00
a570390dfb
FlightTasks: enable usage of yaw setpoint through position controller
2018-04-05 07:30:12 +02:00
e49f80eaa8
FlightTasks: switched output setpoint to reference getter, FlightTask holds it's data
2018-04-05 07:30:12 +02:00
d48ba8be72
FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
2018-04-05 07:30:12 +02:00
0aeea44780
FlightTask: fixed time initialization issues
2018-04-05 07:30:12 +02:00
582990c0af
FlightTasks: revised task switching algorithm to catch errors during activation of a new task and make it more readable
2018-04-05 07:30:12 +02:00
edd5ed1349
FlightTaskManual: remove unnecessary subscription which is deprecated anyways
2018-04-05 07:30:12 +02:00
76a0b9f736
FlightTaskManual: Smooth flight integration: refactored and checked get_acceleration_z
2018-04-05 07:30:12 +02:00
6fb4c79234
FlightTaskManual: Smooth flight integration: refactored and checked second half of get_acceleration_xy executing the intention
2018-04-05 07:30:12 +02:00
42708ea456
FlightTaskManual: Smooth flight integration: refactored and checked first half of get_acceleration_xy determining the xy user intention
2018-04-05 07:30:12 +02:00
56b54d7b85
FlightTaskManual: Smooth flight integration: prepare interface of acceleartion methods for xy and z
2018-04-05 07:30:12 +02:00
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
0d8d24e36d
FlightTaskManual: Smooth flight integration: replace all "dt"s with the local _deltatime
2018-04-05 07:30:12 +02:00
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
1b858f5e56
FlightTaskManual: Smooth flight integration: Copy over vel_sp_slewrate without any changes
2018-04-05 07:30:12 +02:00
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
316e85f7ef
FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_z without any changes
2018-04-05 07:30:12 +02:00
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
e6442c7a7c
FlightTaskManual: Smooth flight integration: Copy over set_manual_acceleration_xy without any changes
2018-04-05 07:30:12 +02:00
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
018581faca
FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly
2018-04-05 07:30:12 +02:00
4d05193ad7
FlightTasks: switched to a block hierarchy with parameter names like TSK_ORB_RADIUS in mind
2018-04-05 07:30:12 +02:00
9437326b01
FlightTaskOrbit: altered initialisation and limiting of parameters for demonstration
2018-04-05 07:30:12 +02:00
01383a0eeb
FlightTaskManual: Basic manual position controlled flight with position and altitude hold works
2018-04-05 07:30:12 +02:00
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
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
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
a9d0990bb8
FlightTasks: added a temporary hardware switch for task switch testing
2018-04-05 07:30:12 +02:00
73f633dfd2
FlightTasks: added possibility to set velocity setpoint, switched Orbit to feedback velocity algorithm
2018-04-05 07:30:12 +02:00
e51e5f3e01
FlightTaskOrbit: added constraints for parameters & defined linear velocity instead of angular
2018-04-05 07:30:12 +02:00
88bf40e3cb
FlightTasks: added simple task switching with possibility do disable FlightTasks completely
2018-04-05 07:30:12 +02:00
37cb8c1a59
FlightTasks: added access to prepared velocity state for every task
2018-04-05 07:30:12 +02:00
8da1d3b16e
FlightTasks: give every FlightTask access to prepared stick input and position state
2018-04-05 07:30:12 +02:00
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
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
f3357aeca4
FlightTasks: make the orbit example actually orbit
2018-04-05 07:30:12 +02:00
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
c21c36dd8d
FlightTasks: added wrappers for filling setpoint vectors, made time dependent example
2018-04-05 07:30:12 +02:00
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
b821297f20
logger: add board subtype
2018-04-04 13:30:52 -04:00
572a6ec8e7
fmuv5 board_config: added TIM5_CH4 spare pin & 3 Input Cap channels
2018-04-04 12:08:34 +02:00
b5d637cd0c
fmuv5 board config: disabled USART6 due to conflict on SBUS
2018-04-04 12:08:34 +02:00
1b7fd5eae7
rcS: initialize TELEM4 on ttyS3 on FMUv5
2018-04-04 12:08:34 +02:00
20f5de33df
PX4IO Firmware: bug fix in variable initialization
2018-04-04 12:08:34 +02:00
97e8ec9551
PX4IO Firmware: Only decode DSM if no other input method matched
...
This ensures that the DSM decoder does not accidentally decode noise on the bus as DSM is not well-protected against CRC errors.
2018-04-04 12:08:34 +02:00
4d8bd28a2b
fmu-v5 board_config.h > change PX4IO_SERIAL_VECTOR for px4io communication on uart 8
2018-04-04 12:08:34 +02:00
8c28591f2d
FMUv5: Swap debug and PX4 IO serial ports to avoid DMA channel resource overlap
...
This is necessary to be able to use DMA on the IO link. We free one channel by disabling DMA entirely on the debug console.
2018-04-04 12:08:34 +02:00
Matthias Grob