fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 15:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
26,697 Commits 852 Branches 161 Tags
70802ba15aa521fd2b9e82053cac4df306a836dc
Commit Graph
650 Commits
Author SHA1 Message Date
MaEtUgR 70802ba15a FlightTaskManual: Yaw lock with deadzone and expo 
More than a year ago I started the easy to use math::Functions to handle
the always used mathematical SISO functions to be tested and available.

I switched x, y and z stick input to the freesh programmed deadzone and
exponential functions from the library to unify and clarify their use.
I just realized yaw was left over because it lead to a drift problem in
certain new use cases.

Now I'm just adding the yaw stick to the already well working method.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 8a3c7f9e41 PositionControl: style check 2018-07-20 09:26:18 +02:00
Dennis Mannhart 2519d97aa2 PositionControl: add failsafe 2018-07-20 09:26:18 +02:00
Dennis Mannhart 45810ec2b4 PositionControl: replace constraint structure with new constraint message structure 2018-07-20 09:26:18 +02:00
Dennis Mannhart 24e6e4041f PositionControl: format clean up 2018-07-20 09:26:18 +02:00
Dennis Mannhart 89c0259b2a PositionControl: replace overwrite with ModuleParams updateParams method 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4c1fcca294 PositionControl.cpp: replace all params with ModuleParams type. Add method that overwrites 
parameter values
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7dbc368779 PositionControl.hpp: inherit from ModuleParams and replace params with ModuleParams type 2018-07-20 09:26:18 +02:00
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 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 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 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 10bd3a50ba PositionControl: parameter subscription declaration 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 26ca17e329 comment fix 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 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
Dennis Mannhart 558a0f892c PositionControl: auto takeoff with constant speed 
PositionControl: remove takeoff logic

mc_pos_control: takeoff logic for flighttask

mc_pos_control: smooth takeoff throttle start at 0
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 6e62beb560 FlightTaskAuto: abstract class for mapping triplets to quadruple 
FlightTaskAuto: add type that corresponds to triplet type

FligthTaskAuto: set all setpoints if invalid in xy

FlightTaskAuto: cast triplet type to WaypointType

FlightTaskAutoLine: class for px4 legacy auto

FlightTaskAutoLine: methods prototype

FlightTaskAuto: change sp to wp (=Waypoint)
add params

FlightTaskAutoLine: follow waypoints along line based on flight state
 2018-07-20 09:26:18 +02:00
Martina 5cd0da95cc mc_pos_control_params: add type boolean to MPC_OBS_AVOID parameter 2018-07-12 16:36:11 -04:00
Martina 064a6dd2fd mc_pos_control: fix rebase mistake 2018-07-12 16:36:11 -04:00
Martina d6ea735b18 make format 2018-07-12 16:36:11 -04:00
Martina 492e40a139 mc_pos_control: enable obstacle avoidance only in mission and rtl 2018-07-12 16:36:11 -04:00
Martina da2df5708b mc_pos_control: refactor to use vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina 33b1b13432 mc_pos_control: replace define with parameter to enable/disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 6cceca6fe5 mc_pos_control_params: add parameter to enable and disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 1144b66a70 mc_pos_control: temporary solution to enable and disable the execution of 
obstacle avoidance waypoints
 2018-07-12 16:36:11 -04:00
Martina c5d62b5524 mc_pos_control: use local frame position setpoint from triplets calculated 
in the pos_control and not coming from navigator. Refactor method
update_avoidance_waypoint_desired since all waypoints have the same type
 2018-07-12 16:36:11 -04:00
Martina 26ca09f824 mc_pos_control: fix typo 2018-07-12 16:36:11 -04:00
Martina 59c7fc5d96 mc_pos_control: use one method to wrap yaw speed instead of triplicate 
code
 2018-07-12 16:36:11 -04:00
Martina 8b20c66cfc mc_pos_control: use desired velocity to calculate vel_sp_along_track_prev 
if obstacle avoidance is running
 2018-07-12 16:36:11 -04:00
Martina d39b969e72 mc_pos_control: refactor the update of the desired waypoints for avoidance 
to eliminate duplicated code
 2018-07-12 16:36:11 -04:00
Martina 9bdc9aada2 mc_pos_control: use defines for point size and number of points in 
trajectory_waypoint
 2018-07-12 16:36:11 -04:00
Martina a11c6235fe mc_pos_control: uses consistent naming for desired waypoints 2018-07-12 16:36:11 -04:00
Martina 272d7ca4cd mc_pos_control: use consistent naming for position waypoints 2018-07-12 16:36:11 -04:00
Martina 3fa094cb6b mc_pos_control: use same notation for velocity waypoints 2018-07-12 16:36:11 -04:00