bresch
70ddb8049a
Traj Smoothing - make format
2019-02-13 20:56:57 +01:00
bresch
1730cd3a69
Velocity Smoothing - Various improvements, cleanup and corner cases fixes
2019-02-13 20:56:57 +01:00
Beat Küng
c659d2bcc2
mixer: minor refactoring to reduce header include dependencies
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- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
2018-12-13 09:50:07 +01:00
bresch
7205e8f359
Auto traj - Add Trajectory logging
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- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
2018-11-06 22:17:00 +01:00
bresch
d9edcfdc06
Trajectory - format style
2018-11-06 22:17:00 +01:00
bresch
aa586ca327
Trajectory - Overload integrate function to allow for custom integration period
2018-11-06 22:17:00 +01:00
bresch
7073187a48
Trajectory - Add getters for current position and velocity. Move some getters to public section
2018-11-06 22:17:00 +01:00
bresch
6a7ce651bc
Trajectory - Add position lock-unlock logic and proper initialization from controller feedback
2018-11-06 22:17:00 +01:00
Beat Küng
787d82c9e6
VelocitySmoothing: simplify the API & fix style
2018-11-06 22:17:00 +01:00
bresch
22780efcd0
Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between.
2018-11-06 22:17:00 +01:00
Beat Küng
86463e4ec7
Flight Tasks: add new trajectory smoothing flight task & library
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Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
2018-11-06 22:17:00 +01:00
bresch