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7e276bc16310d4cae92e511a0207d6209052f7d7
Commit Graph
751 Commits
Author SHA1 Message Date
Matthias Grob 7e276bc163 CollisionAvoidance: move activation logic to library 2018-11-20 14:11:33 +01:00
baumanta 27dc60a419 Improve comments 2018-11-20 14:11:33 +01:00
baumanta ce7dc85450 Change wrong comment 2018-11-20 14:11:33 +01:00
baumanta db514fe441 Add a collision avoidance library which uses range data 2018-11-20 14:11:33 +01:00
bresch 7779c0bd69 MPC - Update velocity integrator definition 2018-11-15 22:08:00 +01:00
bresch d852ce20e6 MPC - Increase max velocity integral gain to 3.0 2018-11-15 22:08:00 +01:00
bresch 0863e95a2c Add "Tracking Anti-Reset Windup" in velocity PID controller 2018-11-15 22:08:00 +01:00
Beat Küng b3afa6ddac mc_pos_control: fix task activation failure for Transition 2018-11-13 09:30:18 +01:00
Beat Küng c9e52d4386 MPC_MAN_TILT_MAX: increase max limit from 90 to 180 degrees 
This is especially useful for testing (the vehicle must behave correctly
even at high tilt angles).
 2018-11-13 09:30:18 +01:00
Beat Küng ca7acae904 mc stabilized mode: move from mc_pos_control to mc_att_control 
- 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
Beat Küng 00c2086dd6 mc_pos_control: simplify weathervane logic 2018-11-13 09:30:18 +01:00
Beat Küng 1946f043f1 mc_pos_control: print active flight task for 'mc_pos_control status' cmd 2018-11-13 09:30:18 +01:00
Beat Küng e7e06dfe38 fix mc_pos_control: disable flight tasks if none of them should be running 
Previously when switching e.g. from stabilized from acro, the stabilized
flight task kept running and publishing setpoints.
Luckily it caused no problems, but the log showed arbitrary attitude
setpoints.
 2018-11-13 09:30:18 +01:00
bresch 066d1f50c4 Auto traj - Add dedicated parameter to enable trajectory smoothing in auto mode only 2018-11-06 22:17:00 +01:00
bresch 7205e8f359 Auto traj - Add Trajectory logging 
- 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 2847ce20b8 Auto traj - Add parameter for gain of trajectory controller 2018-11-06 22:17:00 +01:00
bresch 0209fa00bf Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks 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 d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
Beat Küng 86463e4ec7 Flight Tasks: add new trajectory smoothing flight task & library 
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
 2018-11-06 22:17:00 +01:00
James Goppert c642025339 vehicle_attitude only based yaw control fix (#10803) 
* 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
Roman 50724bce86 mc_pos_control: support VTOL transitions again 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Dennis Mannhart 3b92d49b64 replace + with && 2018-11-05 21:54:19 +01:00
Dennis Mannhart 6a0a9c92fb PositionControl: 
- set integral states and setpoint of reference state to 0
- set thrust to NAN if it will be computed from position and velocity control
 2018-11-05 21:54:19 +01:00
Thunder 662c206ceb fix ControlMath.cpp mathematical derivation error (#10796) 2018-11-01 10:13:59 -04:00
Mara Bos 10c20b38ad Fix many format strings. 
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
  (Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
 2018-10-27 12:44:51 +02:00
Dennis Mannhart 304e00f158 ALTITUDE_THRESHOLD lower to 0.3 meters 2018-10-16 11:13:00 -04:00
Dennis Mannhart 511563d4ac mc_pos_control: enable control in xy during smooth-takeoff from ground but limit tilt 2018-10-16 11:13:00 -04:00
Dennis Mannhart 3329d69d05 mc_pos_control: replace const with constexpr 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4627d5d6e4 mc_pos_control_main smooth takeoff: enable position-xy/yaw control once above 0.5m from takeoff reference 2018-10-16 11:13:00 -04:00
Dennis Mannhart 345d3278d1 mc_pos_control smooth takeoff: if velocity is valid, the control velocity in xy during takeoff 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4b70584cf4 mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise 
just keep thrust vector pointing upward
 2018-10-16 11:13:00 -04:00
Dennis Mannhart dbd1e1432a mc_pos_control: for sanity distinguish between velocity and position setpoint during 
smooth-takeoff. This is only required if someone writes a FlightTask where both position
and velocity setpoints are finite
 2018-10-16 11:13:00 -04:00
Dennis Mannhart c3ba2687ac FlightTask: if not in air, reActivate the task which will set the setpoints to current 
vehicle state.
 2018-10-10 10:30:48 -04:00
Dennis Mannhart 1f0d559d65 PositionControl: check and set _skip_controller flag at the end of the setpoint update 2018-10-10 10:29:46 -04:00
Dennis Mannhart 2f833a26d1 mc_pos_control: check if position-control setpoint update succeeded. 
refactor use_obstacle_avoidance method
 2018-10-10 10:29:46 -04:00
Beat Küng 431bcbe642 MPC_THR_HOVER: reduce minimum from 20% to 10% 2018-10-09 12:09:07 +02:00
Beat Küng 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
Beat Küng eb30b5b73e mc_pos_control_params: remove unused MPC_MANTHR_MAX params 2018-10-04 15:09:02 +02:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Beat Küng 079a43238f mc_pos_control: print Failsafe message only once when entering failsafe 2018-09-28 08:59:22 +02:00
Beat Küng 720b3307d8 mc_pos_control: limit flight task init failure printf's 
There were cases where the console was continuously spammed with activation
failure messages.
 2018-09-28 08:59:22 +02:00
Beat Küng ff69158836 mc_pos_control: add missing orb_unsubscribe 2018-09-28 08:59:22 +02:00
Beat Küng f7b65c577b mc_pos_control: refactor to use ModuleBase 2018-09-28 08:59:22 +02:00
Roman ad88ef14e1 weathervane: use a single parameter to enable 
- in auto mode we always run weather vane
- in manual model we just use it in position control mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 96f3feb088 weathervane: get rid of passive strategy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 0e835cb498 Weathervane: pass quaterionon as constant reference 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman ccaeb58708 WeatherVane lib: address review comments 2018-09-19 08:27:07 +02:00
Roman ce7272a39c WeatherVane: calculate rotation matrix directly when updating 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00