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705a08bbbda4a3defa082332e82864b45e5bc19a
Commit Graph
275 Commits
Author SHA1 Message Date
Andreas Daniel Antener 705a08bbbd do not modify attitude setpoint in velocity controlled mode (#4905) 2016-06-25 10:59:50 +02:00
Julian Oes d9d5d9d9e4 mc_pos_control: run the loop without position data 
By running the loop in mc_pos_control without successfully polling on
position data, we still copy the manual input over so that
mc_att_control can consume it. This allows to fly in manual mode without
GPS and no position estimate.
 2016-06-15 13:34:27 +01:00
Lorenz Meier 1e9fae8301 MC pos control: Be more efficient 2016-05-29 16:27:14 +02:00
Roman Bapst 02ba3317e9 WIP: Manual attitude setpoint for large heading errors (#4564) 
* mc pos control: in manual mode calculate attitude setpoint
such that it reflects the users intuition of roll and pitch
for any given heading error

* added some comments on the new manual attitude setpoint generation

* make calculation shorter
 2016-05-19 15:28:04 +02:00
Jimmy Johnson 59296e0a49 adding user parameters, simplifying dynamic gps filter, adding yaw smoothing 2016-05-16 15:12:50 -07:00
Jimmy Johnson 38b4278998 minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error 2016-05-16 15:11:57 -07:00
Lorenz Meier 623ef6d67c MC pos control: Use default initializers 2016-05-13 10:34:47 +02:00
Daniel Agar 331456f831 mc_pos_control_params.c param metadata 2016-05-11 12:29:54 -04:00
Lorenz Meier c31c29097d Rename params, add transitional support 2016-05-10 09:27:00 +02:00
Adyasha Dash 468b0b25de added different parameters for ascent and descent rates 2016-05-10 09:18:40 +02:00
Lorenz Meier 45a5f2aaa4 MC vel control: Better defaults, better min and max gains 2016-05-04 22:49:36 +02:00
Lorenz Meier 9b1e4c42de Multicopter: Clarify speed params 2016-05-01 18:28:01 +02:00
Lorenz Meier 388d29baec MC pos control: Show normalized units properly 2016-04-25 09:35:58 +02:00
Benoit Landry 95faba391a accel control in pos controller 2016-04-22 10:31:52 +02:00
James Goppert 0f0f354acd Added warning for MPC_ALT_MODE. 2016-04-15 11:02:32 -04:00
James Goppert f905276958 Added mpc_alt_mode. 2016-04-14 17:52:28 -04:00
James Goppert 967e4dd127 Modified cmake to use STACK_MAX and STACK_MAIN 2016-04-14 13:36:36 -04:00
Julian Oes 1f44fb1efd commander: internalize system status bools 
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.

Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
 2016-04-11 18:01:47 +02:00
Lorenz Meier dd0d1f001e MPC velocity controller: Reduce gain to stabilize control loop 2016-04-08 21:25:55 -07:00
Lorenz Meier 737ad045b2 Fix up formatting in mc pos control 2016-03-27 12:10:57 +02:00
Jimmy Johnson 6ff1b2d896 Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid 
booleans in setpoint struct
 2016-03-27 12:10:57 +02:00
Jimmy Johnson 3aaad68c76 fixed position tracking overshoot 2016-03-27 12:10:57 +02:00
Jimmy Johnson dfc2d9b5e0 more clean up 2016-03-27 12:10:57 +02:00
Jimmy Johnson 8829db8844 code clean up complete 2016-03-27 12:10:57 +02:00
Jimmy Johnson 01e971b342 Tests 2016-03-27 12:10:57 +02:00
Jimmy Johnson 0797c7fc21 velocity smoothing 2016-03-27 12:10:57 +02:00
Lorenz Meier c385d5e32b Adjust multicopter position control default params 2016-03-25 14:22:49 +01:00
Julian Oes bba0d0384d drivers/modules: changes after mavlink_log change 
The mavlink_log API changes lead to changes in all drivers/modules using
it.
 2016-03-24 13:10:02 +01:00
Daniel Agar 7a9427bc34 param remove empty @unit 2016-03-14 09:12:34 +01:00
Daniel Agar c654b20584 param @unit remove % usage 2016-03-14 09:12:34 +01:00
Daniel Agar f930f3e557 mc_pos_control param @unit 2016-03-14 09:10:29 +01:00
Lorenz Meier c97dca0cdb MC pos control: Differentiate between cruise and max velocity 2016-03-13 18:09:52 +01:00
Lorenz Meier f73148e98d mc pos control: Support do change speed 2016-03-13 18:08:25 +01:00
Roman a62046625b mc_pos_control: only reset position setpoint if we are not in rotary wing mode 2016-03-07 21:14:41 +01:00
tumbili 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
tumbili 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
tumbili 989a4a0984 mc pos control: 
-when switching into vel control mode (xy) choose vel sp such that attitude
setpoint is continuous
 2016-03-04 08:45:13 +01:00
Lorenz Meier 7adaccfe67 Higher default gains for multicopter position control 2016-02-29 15:17:12 +01:00
Lorenz Meier 473eea154f MC position control: Hold position more aggressively 2016-02-27 12:12:26 +01:00
Lorenz Meier 5aaf74bbe6 MC pos control: Allow higher yaw rate by default 2016-02-27 11:23:40 +01:00
Mark Charlebois 267158751e Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:45 +01:00
Mark Charlebois 014f15d8b0 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 16:59:43 +01:00
Mark Charlebois 29f8409445 Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:42 +01:00
Mark Charlebois 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
Mark Whitehorn d5d3b63dc8 delete parameter MPC_HOLD_Z_DZ 2016-02-17 15:23:16 +01:00
Mark Whitehorn 8cd4b57c6b add parameters for adjusting ALTCTL deadband 2016-02-17 15:22:28 +01:00
Mark Whitehorn ead3eeda6c expand description of MPC_THR_HOVER parameter 2016-02-17 15:22:28 +01:00
Mark Whitehorn 5de7c7e426 zero altctl deadband 2016-02-17 15:22:28 +01:00
Mark Whitehorn 159abb9b00 add parameter for hover throttle setting 
and tighten z deadband
 2016-02-17 15:22:28 +01:00
Mark Whitehorn 101ac63737 change altctl throttle deadband to 2 point curve 2016-02-17 15:21:37 +01:00