MaEtUgR
e8d2f1c2be
FlightTaskOrbit: execute MAVLink orbit command
...
Latest QGC daily supports sending an orbit command. This commit applies
the correct radius, rotation direction, velocity and center position.
Still missing is a check to have global position available and applying
x,y coordinates and altitude independently.
2018-07-24 15:03:53 +02:00
MaEtUgR
8d88fa2fca
FlightTasks: fix multiple comments
2018-07-24 15:03:53 +02:00
Matthias Grob
93bab20510
FlightTaskOrbit: switch to FlightTaskAltitudeSmooth
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Nice smooth altitude control is already provided by the existing
flight task for altitude mode. We inherit from it to resuse the
functionality and just all its update first not altering the setpoints
for the z-axis it produced.
2018-07-24 15:03:53 +02:00
Matthias Grob
ce49ac0259
FlightTaskOrbit: better member descriptions
2018-07-24 15:03:53 +02:00
Matthias Grob
26e3dbec2e
FlightTaskOrbit: name member constants start with underscore
2018-07-24 15:03:53 +02:00
Matthias Grob
c2223030d9
FlightTaskOrbit: add acceleration limit & unify checks
2018-07-24 15:03:53 +02:00
Beat Küng
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
Matthias Grob
4d0dca5dd5
FlightTask: make applyCommandParameters getting called recursively & pass command by reference
2018-04-05 07:30:12 +02:00
Matthias Grob
efd240904f
FlightTasks: added possibility to apply task parameters from the vehicle command
2018-04-05 07:30:12 +02:00
Matthias Grob
e5d237088c
FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
2018-04-05 07:30:12 +02:00
Matthias Grob
888a63c001
FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
2018-04-05 07:30:12 +02:00
Matthias Grob
071b09c65d
FlightTasks: initialize task state based on subscriptions after the SubscriptionArray was initialized
2018-04-05 07:30:12 +02:00
Beat Küng
b0fdbf5136
FlightTask: inherit from Block instead of SuperBlock
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I think this is more how it's meant to be
2018-04-05 07:30:12 +02:00
Beat Küng
b5ecf9824d
flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations
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In addition, we will need some shared data structure for the uorb
subscriptions.
2018-04-05 07:30:12 +02:00
Matthias Grob
23fe822955
FlightTasks: private variables follow underscore name convention, member description comments doxygen style
2018-04-05 07:30:12 +02:00
Matthias Grob
92acbfde3e
FlightTasks: FlightTask definition to cpp, fix include chain, fix cmake
2018-04-05 07:30:12 +02:00
Matthias Grob
c211c807ad
FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library
2018-04-05 07:30:12 +02:00
Matthias Grob
3450ccb2b2
FlightTaskOrbit: Fix zero vector resulting in NaN output and ignored setpoint
2018-04-05 07:30:12 +02:00
Matthias Grob
a570390dfb
FlightTasks: enable usage of yaw setpoint through position controller
2018-04-05 07:30:12 +02:00
Matthias Grob
d48ba8be72
FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
2018-04-05 07:30:12 +02:00
Matthias Grob
9437326b01
FlightTaskOrbit: altered initialisation and limiting of parameters for demonstration
2018-04-05 07:30:12 +02:00
Matthias Grob
f2250c1952
FlightTasks: made a FlightTask inherit from SuperBlock to have Block::Subscription s
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FlightTask Manual: subscription made setpoint conversion according to vehicle attitude work
2018-04-05 07:30:12 +02:00
Matthias Grob
28f4d18062
FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight
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it's a draft and only works for velocity setpoints oriented in NED frame yet
# Conflicts:
# src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
2018-04-05 07:30:12 +02:00
Matthias Grob
73f633dfd2
FlightTasks: added possibility to set velocity setpoint, switched Orbit to feedback velocity algorithm
2018-04-05 07:30:12 +02:00
Matthias Grob
e51e5f3e01
FlightTaskOrbit: added constraints for parameters & defined linear velocity instead of angular
2018-04-05 07:30:12 +02:00
Matthias Grob
37cb8c1a59
FlightTasks: added access to prepared velocity state for every task
2018-04-05 07:30:12 +02:00
Matthias Grob
8da1d3b16e
FlightTasks: give every FlightTask access to prepared stick input and position state
2018-04-05 07:30:12 +02:00
Matthias Grob
32a1ff733d
FlightTasks: switch input from pointers in parameters passed on every run to private pointers of the base class with safety getter and setter
2018-04-05 07:30:12 +02:00
Matthias Grob
f3357aeca4
FlightTasks: make the orbit example actually orbit
2018-04-05 07:30:12 +02:00
Matthias Grob
b52f541492
FlightTasks: added timer in base class that counts from activation on including possibility to reset in subclass
2018-04-05 07:30:12 +02:00
Matthias Grob
c21c36dd8d
FlightTasks: added wrappers for filling setpoint vectors, made time dependent example
2018-04-05 07:30:12 +02:00
Matthias Grob
93ae260f44
FlightTasks: introduce new library to handle advanced features like orbit follow me and so on
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it's only a draft setup yet and not functional for real use
the object is for now managed by the mc_pos_control module
but it stays as encapsulated as possible to enable the instance to reside in any trajectory module in the future
2018-04-05 07:30:12 +02:00
MaEtUgR