94d4f0391a
FlightTaskAuto: fix newline at end of file
2018-11-30 09:30:00 -05:00
be4900f61d
FlightTaskAutoMapper2: remove speed_at_target
2018-11-30 09:30:00 -05:00
b3cde5ac44
FlightTaskAutoLine: replace NAV_ACC_RAD with _target_acceptance_radius
2018-11-30 09:30:00 -05:00
c97b2a3071
FlightTaskAuto: move method getVelocityFromAngle to FlightTaskAutoLine
2018-11-30 09:30:00 -05:00
370371767f
FlightTaskAutoLine: ensure that desired speed along track does not exceed maximum speed at threshold to target
2018-11-29 12:32:56 +01:00
053494c535
use only one parameter and enable parameter change in flight. clean up code
2018-11-20 14:11:33 +01:00
dd45fa6541
change feature name from CollisionAvoidance to CollisionPrevention
2018-11-20 14:11:33 +01:00
81ec6c5b1e
ColisionAvoidance: move instantiation to FlightTask
2018-11-20 14:11:33 +01:00
db514fe441
Add a collision avoidance library which uses range data
2018-11-20 14:11:33 +01:00
330941c1fc
FlightTaskManualAltitude: initialze yaw setpoint with NAN
...
Also update some comments.
In case we activate the task and don't have a locked yaw, we should
initialize the yaw setpoint with NAN to avoid any abrupt changes.
2018-11-13 09:30:18 +01:00
2b7d3bd088
flight tasks: move weather vane yaw handler from Altitude to Position task
2018-11-13 09:30:18 +01:00
36ee0297ee
FlightTask.hpp: minor code cleanup
2018-11-13 09:30:18 +01:00
ca7acae904
mc stabilized mode: move from mc_pos_control to mc_att_control
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- better in terms of dependencies:
- the position controller code depended on position topics for yaw
- mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
especially important since Stabilized is often used as a fail-safe flight
mode.
2018-11-13 09:30:18 +01:00
4e2bf27da6
FlightTaskAuto set WaypointType from position setpoint types
2018-11-11 10:21:41 -05:00
90cee2d5ea
Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff)
2018-11-06 22:17:00 +01:00
c3a4fff0cd
Auto traj - generate heading from trajectory velocity vector if possible
2018-11-06 22:17:00 +01:00
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
2847ce20b8
Auto traj - Add parameter for gain of trajectory controller
2018-11-06 22:17:00 +01:00
2c63388fb7
Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task
2018-11-06 22:17:00 +01:00
0209fa00bf
Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks
2018-11-06 22:17:00 +01:00
67c0846068
Vel smooth - Improve position lock/unlock detection
2018-11-06 22:17:00 +01:00
d9edcfdc06
Trajectory - format style
2018-11-06 22:17:00 +01:00
aa586ca327
Trajectory - Overload integrate function to allow for custom integration period
2018-11-06 22:17:00 +01:00
7073187a48
Trajectory - Add getters for current position and velocity. Move some getters to public section
2018-11-06 22:17:00 +01:00
6a7ce651bc
Trajectory - Add position lock-unlock logic and proper initialization from controller feedback
2018-11-06 22:17:00 +01:00
84665672ad
Vel smooth - Change jerk scheduling strategy
2018-11-06 22:17:00 +01:00
ab7e4436b3
Vel smooth - Add Z trajectory
2018-11-06 22:17:00 +01:00
787d82c9e6
VelocitySmoothing: simplify the API & fix style
2018-11-06 22:17:00 +01:00
d8cb6bb834
mc_pos_control_params: update jerk params (limits + defaults + description)
2018-11-06 22:17:00 +01:00
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
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
c642025339
vehicle_attitude only based yaw control fix ( #10803 )
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* Add attitude sub to mc_pos_control for yaw usage.
* Initialize pos control _states struct.
* Remove unnecessary init for struct in mc pos ctrl.
* Only use att topic for yaw setting in FlightTask.
2018-11-06 12:03:13 -05:00
40884a9238
FlightTaskTransition: added missing override
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-11-07 00:13:43 +08:00
fea309b606
added a flighttask for automatic vtol transitions
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Signed-off-by: Roman <bapstroman@gmail.com >
2018-11-07 00:13:43 +08:00
e7e49d5b3c
FlightTask don't require vehicle-local-positiion topic
2018-10-16 17:06:12 +02:00
ff45ee67b4
FlightTasks: remove empty line
2018-10-10 10:30:48 -04:00
c3ba2687ac
FlightTask: if not in air, reActivate the task which will set the setpoints to current
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vehicle state.
2018-10-10 10:30:48 -04:00
6212e9c752
FlightTaskManualAltitude: use stick inputs for the brake check
2018-10-09 12:05:52 -04:00
280cb34a77
FlightTaskAuto: replace NAV_ACC_RAD with acceptance radius from triplet
2018-10-09 12:01:45 -04:00
48f5f8faa5
mc pos control: add MPC_THR_CURVE param
...
The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.
2018-10-09 12:09:07 +02:00
dae7c56109
ManualSmoothing{XY,Z}: remove unused include
2018-10-04 15:09:02 +02:00
e23382c6da
FlightTaskManualAltitude: call FlightTaskManualStabilized::_updateHeadingSetpoints() directly
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Instead of calling _updateSetpoints(), that also sets the thrust setpoint,
which is then overwritten again.
2018-10-04 15:09:02 +02:00
206baa7432
Flight tasks: avoid using *= for scalar to vector assignment
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It's confusing and there is a corner case where the result is incorrect:
*= 0 will not set the variable to 0 if it's already NAN.
2018-10-04 15:09:02 +02:00
bb756e0e12
FlightTaskAuto: remove unnecessary brackets in switch case statements
2018-10-04 15:09:02 +02:00
bee6a6b8b0
Refactor: Use new matrix::Vector2f constructor
2018-10-01 08:10:21 -04:00
eac8f8813a
flight tasks: minor cleanup (avoid using *= for assignment)
2018-09-24 13:57:37 +02:00
afada8ddb5
FlightTaskManualStabilized: allow attitude control with 0 throttle
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With minimum throttle set to 0, it was not possible to control the attitude
anymore at 0 throttle, the vehicle would just stay level.
2018-09-24 13:57:37 +02:00
5b8ae9fb29
rename position_controller_status field from altitude_acceptance_radius
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to altitude_acceptance
2018-09-24 11:23:01 +02:00
40650ee2c7
FlightTaskAuto: check avoidance progress only for multicopter
2018-09-24 11:23:01 +02:00
07eb0b697e
FlightTaskAuto: don't create vectors from pointers
2018-09-24 11:23:01 +02:00
Matthias Grob