* rft: clean merge to PX4
* fix: formatting
* fix: extra line
* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle
* feat: updated gazebo models to include bluerov update
* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build
* fix: added saturation to thrust and torque messages via param
* doc: updated parameters documentation for uuv
* fix: formatting
* feat: matching hardware reference
* fix: thrusters kg
* rft: removed commented lines
* fix: update gz reference given hw setup
* fix: hardware references
* fix: recommendations
* fix: updated settings to match hardware
* rft: check only for fixed and rotary wing for high throttle
Co-authored-by: Daniel Agar <daniel@agar.ca>
* fix: commit oupsie
* fix: format
* rft: remove is_uuv
* fix: hw parameters, uuv build target for v6x
* feat: added support for D-pad attitude changes in stabilized position control
* fix: position setpoint update and parametrized trajectory age and att change
* fix: format
* fix: removed duplicated call to check_validity_setpoint
* fix: setpoint update on arming logic
* fix: setpoint initialization for stabilized mode
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
* Remove euler angles from attitude setpoint message
* Remove usage of euler angles in attitude setpoint messages
This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages
* Fix standard vtol
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
Currently not solved/missing:
- Problem with gazebo model(propeller moving chaotically).
- Mixer correct gazebo vs real life (has to be tested in the future)
- correct integration in uuv.apps (when choose which module)
- very basic controller chosen (could be improved a lot in the future)
* Remove error caused by unused variables and a different build error
* added better description of the parameter. Additionally the group is changed.
* added better description of the parameter. Additionally the group is changed.
Fixed bug about parameter
* Added EOF to the files.
* Removed parameter for direct position control for safety reasons.
* small bugfix
Pedro Roque