69aa8689c0
Revert "rover_pos_control: thrust normalization for joystick input ( #20885 )"
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This reverts commit 22f7d913bd
2023-07-11 08:25:50 -07:00
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
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MC/FW rate controller and auto tuner: remove actuator_controls
AirshipAttControl: remove actuator_controls
MulticopterLandDetector: remove actuator_controls
mavlink streams vfr_hud and high_latency2: remove actuator_controls
RoverPositionController: remove actuator_controls
UUVAttitudeController: remove actuator_controls
battery: use length of thrust_setpoint for throttle compensation
VehicleMagnetometer: use length of thrust_setpoint for throttle compensation
Signed-off-by: Silvan Fuhrer
2023-03-16 11:55:45 +01:00
9a038281c5
RoverPositionController: remove some unused stuff
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
feec8b2036
L1: remove some functions that Rover doesn't need
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-06 14:00:02 +01:00
45912066d2
fix copyright header year range
2023-01-14 09:16:16 -05:00
22f7d913bd
rover_pos_control: thrust normalization for joystick input ( #20885 )
2023-01-13 20:11:39 -05:00
331cb21dee
manual_control_setpoint: change stick axes naming
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In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
2022-11-28 19:25:55 +01:00
8ca28f3796
Separate message for trajectory setpoint
2022-05-12 17:19:48 +02:00
106044be38
Initialize global local projection for rovers
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This commit initializes the global and local projection for rovers
2022-03-24 08:57:53 -04:00
6135bb384b
cleanup module callback registration failed errors
2022-03-23 20:44:50 -04:00
28d34bf095
Convert L1 controller to local coordinates
2022-03-23 13:34:13 +01:00
4becd6e4c7
rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint
2021-12-24 20:06:13 -05:00
8db7a6225b
geo: Moved the map_projection_* functions and state into a self-contained C++ class
2021-12-06 14:30:14 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
6a6b8d49fc
msg: re-use manual_control_input in setpoint
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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
3664d9e4ce
rover: publish actuator controls with rate of gyro
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Some ESC's with DShot don't initialize otherwise (as the 200Hz of the vehicle attitude rate is too low).
2021-04-26 08:53:20 +02:00
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
4c5d2363d4
Rover control: Use roll sticks
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It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
2021-02-14 11:17:28 +01:00
fdd9b3ea51
Add support for stabilized flight mode for rovers
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This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
2021-02-14 11:17:28 +01:00
3c12573e93
Use uORB::Subscription for rover_pos_control
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Modernize rover position control
2021-02-14 11:17:28 +01:00
ec2cf70276
Rover position controller: Modernize implementation
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This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
2021-02-14 11:17:28 +01:00
1981519aad
L1 position controller: use double precision floating point for all lat/lon
2021-02-12 21:59:56 +01:00
e56dfe6497
rover_pos_control: revert sensor_combined purge
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- sensor_combined is only used for scheduling in this module under certain circumstances and should be reviewed and replaced
- fixes https://github.com/PX4/Firmware/issues/15628
2020-09-01 21:09:33 -04:00
53b3dfa64e
rover_pos_control: remove unused sensor_combined subscription
2020-08-23 17:38:27 -04:00
e9eae1bd76
Refactor: Name manual_control_setpoint the same way everywhere
2020-06-22 12:06:27 -04:00
c96b5246ff
Improved Hold behaviour
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Added local position as a valid source of position
2020-05-13 13:08:41 +02:00
45e88aa8d3
Correct Ki and Kd inversion in rover pid_set_parameters
2020-04-17 08:18:10 +02:00
eb3b0f6b55
mathlib: get rid of now duplicate sign() function
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Instead use the one that was copied to the matrix library in
https://github.com/PX4/Matrix/pull/116/
2020-03-17 10:01:42 +01:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
4ce03dfc1e
Add support for offboard ActuatorControl set points to RoverPositionControl ( fixes #13192 ) ( #13314 )
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* fix formatting
* RoverPositionControl: Support Actuator Control Setpoints (fixes #13192 )
* RoverPositonControl: remove control modes, that aren't currently implemented
* RoverPositionControl: use new Publication API
2019-11-20 15:01:51 +01:00
bbc028a9e9
RoverPositionControl: make offboard attitude usable without GPS
2019-11-19 10:05:25 +01:00
38103654e9
RoverPositionContro: Enable driving backwards in attitude control
2019-11-17 11:29:45 +01:00
b999581d2f
Rover: Handle velocity frames correctly for offboard velocity control
2019-11-05 16:29:04 -05:00
1951e416b1
Enable rover attitude setpoint
2019-11-03 09:54:22 -05:00
6f1e132286
clang-tidy: enable readability-redundant-control-flow and fix
2019-10-28 10:50:31 -04:00
2fc5789d68
Support offboard velocity setpoints for rover ( #13225 )
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* Enable velocity control for rover
* Address comments
* Use pid for speed control
* Calculate steering commands correctly
* Use local velocity estimates to avoid global position dependency
2019-10-24 10:40:20 +02:00
c8e59c4e39
parameter_update use uORB::Subscription consistently
2019-09-29 10:49:03 -04:00
950dbc1d2e
Rover: Enable Offboard support for Rover position control
2019-08-21 12:04:19 -04:00
a917f22b65
sensors: create vehicle_acceleration module ( #12597 )
2019-08-07 05:05:48 -04:00
80f2603b17
Fixed timing of rover pos control
2019-07-25 10:53:39 -04:00
2ed8ebf889
rover_pos_control: refactor to ModuleBase and use C++ Param API
2019-07-23 11:16:52 +02:00
2ed00c9cb6
Rover: Rewrote gnd_pos_control and removed gnd_att_control ( #12239 )
2019-07-11 09:39:13 -04:00
alexklimaj