Dennis Mannhart
6cfb89a8e8
test_controlmath rebase fix: EPS to FLT_EPSILON
2018-07-20 09:26:18 +02:00
Dennis Mannhart
caa773008a
PositionControl: degrees to radians
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4a9e5941b6
mc_pos_control and FlightTaskAuto rebase fix
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4761f0a344
PositionControl: bug fix Pv replacement with Pp
2018-07-20 09:26:18 +02:00
Dennis Mannhart
83f6398e93
ControlMath: comments refactor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
19743bcaec
FlightTaskAuto: comments refactor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c01fab089a
PositionControl parameter renaming. Use the the name as stored in the metadata
2018-07-20 09:26:18 +02:00
Dennis Mannhart
cf59c2a2ac
PositionControl/mc_pos_control: update comments
2018-07-20 09:26:18 +02:00
Dennis Mannhart
673945f28b
PositionControl: check if constraints are below global maximum
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1cde38f82f
FlightTaskAuto: always update yaw
2018-07-20 09:26:18 +02:00
Dennis Mannhart
29391acbca
FlightTaskAutoLine: fix greater sign
2018-07-20 09:26:18 +02:00
Dennis Mannhart
60a9b45c88
Positioncontrol: limit velocity upwards during smooth takeoff
2018-07-20 09:26:18 +02:00
Dennis Mannhart
0f4eb8e766
PositionControl: add integral reset methods
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65a9cd171f
PositionControl: variable replacement
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e2ac12ef2c
FlightTask: comment fixes
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c6b5731086
test_controlmath: add first few tests for constrain function in xy
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c60481614e
ControlMath constrainxy: fix one of the condition
2018-07-20 09:26:18 +02:00
Dennis Mannhart
386b70dc58
ControlMath: add derivation and simplify computation
2018-07-20 09:26:18 +02:00
Dennis Mannhart
99de97a528
FlightTaskAuto: fix global reference update
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b7f729e432
FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition
...
and _evaluateVehicleGlobalPosition
2018-07-20 09:26:18 +02:00
Dennis Mannhart
913932ff9e
FlightTask: move geo-lib include to FlightTaskAuto where it is required
...
for conversion from global to local
2018-07-20 09:26:18 +02:00
Dennis Mannhart
10bd3a50ba
PositionControl: parameter subscription declaration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b20bd076a0
FlightTaskAuto: always update type
2018-07-20 09:26:18 +02:00
Dennis Mannhart
7f68417d19
PositionControl: make distinction for throttle minimum depending on mode
2018-07-20 09:26:18 +02:00
Dennis Mannhart
59087afac8
FlightTaskManualStabilized: replace minimum throttle with minum throttle specific for stabilized
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65603d7de7
FlightTaskAutoLine: don't reset during normal operation
2018-07-20 09:26:18 +02:00
Dennis Mannhart
26ca17e329
comment fix
2018-07-20 09:26:18 +02:00
Dennis Mannhart
08a89ccdbb
FlightTaskAutoLine: if previous type was idle, set thrust to NAN again to ensure
...
thrust is not used. Also, if previous was not a loiter or position type, then reset
setpoints to current state. This is needed because during line following, the
previous setpoints are requires and cannot be NAN.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
5f293cceac
FlightTaskAutoLine: first activate and then reset
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6da47b4a85
FlightTaskAutoLine: move method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3d034823b0
FlightTaskAutoLine: introduce previous type which used to reset setpoints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a401778038
FlightTask: remove global to local map
2018-07-20 09:26:18 +02:00
Dennis Mannhart
0efbbdc227
FlightTaskAutoLine: replace xy/z setpoints with FlightTask base setpoints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
37bfd8e01a
FlightTaskAuto: always update cruise speed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3083de0979
FlightTaskAuto: typo fix
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fbe8a558b2
FlightTaskIndex: add AutoLine
2018-07-20 09:26:18 +02:00
Dennis Mannhart
288ee2362e
FlightTaskAuto: remove warning message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
f62c3c3b8a
FlightTaskAutoLine: simplify logic by setting setpoints directly
2018-07-20 09:26:18 +02:00
Dennis Mannhart
338130a9b4
FlightTaskAuto: simplify logic by just updating waypoints if anything has changed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
171c19c3ca
FlightTaskAutoLine: override _reset method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e2347c30f6
FlightTaskAuto: comment fix
2018-07-20 09:26:18 +02:00
Dennis Mannhart
69ea4df45c
FlightTaskAuto: pure virtual reset method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2c385e6967
FlightTaskAuto: remove unused include
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ae07843e9
position control: remove empty space
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9ff4d13c2c
mc_pos_control: remove unused method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
75fb1b28b9
mc_pos_control: set thrust to zero if in idle
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1fb8eaf6c6
mavlink_messages: add yawspeed to local position setpoint sent over mavlink
2018-07-20 09:26:18 +02:00
Dennis Mannhart
816f2d12d5
FlightTaskAuto minor clean up
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ae0f02f67d
ControlMath: by value to reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3c40aa0d9c
PositionControl: if valid velocity and position setpoint available, always prioritize
...
velocity setpoint generated from position error over velocity feedforward
2018-07-20 09:26:18 +02:00
