536cd6cb1a
allow DO_CONTROL_VIDEO in missions
2020-03-30 17:10:36 +02:00
6bd191a24e
Mavlink: Implemented SET_CAMERA_ZOOM
2020-03-30 17:10:36 +02:00
76d20be29d
Mission block: Gate math cleanup and checks
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This change simplifies the gate calculation.
2020-03-14 17:50:40 +01:00
4876e7bd6b
Navigator: Improve documentation of mission block
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The default for the gate check condition is to pass and this needed to be explicitly documented
2020-03-14 17:50:40 +01:00
09595f88fc
Mission block: Style improvement
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Boolean logic improvement to avoid double assignment of true
2020-03-14 17:50:40 +01:00
5936844595
Update to latest mission API
2020-03-14 17:50:40 +01:00
b405c7e9bd
Navigator: Add ability to wait for a position gate with executing the mission
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This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
2020-03-14 17:50:40 +01:00
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
9f545ae3cf
navigator: convert to radians in configuration getter
2019-11-22 13:36:05 -05:00
515e896cde
navigator: set position setpoint timestamp
2019-11-19 10:24:52 -05:00
ea35923d3a
navigator: bugfix to prevent NaN setpoints
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The asinf function is NaN outside of -1 to 1. Therefore, it probably
makes sense to constrain the input to prevent NaN setpoints further down
the line.
2019-10-09 08:36:34 -06:00
b1d38ee050
Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 10:08:04 +02:00
21760a5856
Changed constant name to UNMANNED_GROUND_VEHICLE
2019-06-13 10:04:26 +02:00
a134da6e12
Removed is_rotor_wing, replaced with vehicle_type
2019-06-13 10:04:26 +02:00
2ca40bfc65
Changed navigator to properly separate xy and z distance to waypoint
2019-06-13 10:04:26 +02:00
79d4c09d59
uORB::Publication simplify and cleanup
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- base class is now template
- drop linked list
- virtualization no longer required
2019-06-12 08:48:19 -04:00
468fb53459
navigator fix FW loiter to alt tangent exit ( #11576 )
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- fixes #11317
2019-03-03 22:22:32 -05:00
83e76ece1c
navigator mission block fix get_time_inside() and cleanup helpers
2019-02-06 18:59:11 -05:00
3665bc59b8
navigator initialize all mission items safely
2019-02-06 18:59:11 -05:00
e6d378c9aa
navigator: fix typo
2018-10-22 09:26:06 -04:00
18f4144e5a
mission_block: when creating a triplet from a mission item use the default
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acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
2018-10-09 12:01:45 -04:00
7031bb5a6d
navigator: add yaw_acceptance getter to incorporate feedback from position
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controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
2018-09-24 11:23:01 +02:00
20c02ae093
Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments.
2018-08-24 10:13:07 -04:00
ec4ccc1fcd
Fixed-wing autoland: Use a more appropriate (i.e. mostly tighter) altitude acceptance radius than just the standard altitude acceptance parameter (which may be too large to allow a precise autoland)
2018-08-24 10:13:07 -04:00
aad1ff0209
mission_block: explicit type conversion
2018-08-06 16:17:11 +02:00
b527187a10
mission_block: swapped "param6" for "altitude" for consistency
2018-08-06 16:17:11 +02:00
337133e9fa
use double LAT/LONG fields instead of float params for storing ROI settings
2018-08-06 16:17:11 +02:00
57dfcee842
added a check for not maybe_landed upon takeoff
2018-07-26 07:49:14 +02:00
a1ff4a8a67
removed unneccessary includes, eliminated namespace on math, changed date
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changed a comment
reverted a file back to master
2018-07-26 07:46:24 +02:00
130cdf25bf
prevent RTL if already landing
2018-07-26 07:46:24 +02:00
cf74166801
double promotion warning fix or ignore per module
2018-07-01 09:36:55 +00:00
d0bde9ab2a
replace geo _wrap_pi with matrix::wrap_pi
2018-06-12 09:00:52 +02:00
84578748f4
Navigator Mission RTL ( #8749 )
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* Add return to land to mission
This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
2018-05-27 12:07:06 -04:00
04cc5c5611
Navigator: VTOL only apply acceptance radius calculation for FW part of back transition ( #9519 )
2018-05-23 19:46:36 -04:00
29b3950747
move geo and geo_lookup to PX4/ecl
2018-03-26 23:16:55 -04:00
f2dddc65a5
navigator: use new Param class
2018-03-13 17:35:15 +01:00
bc3577bd60
mission_block: do relative alt correction for correct nav_cmd
2018-01-25 15:27:55 +01:00
342509b3ab
New ROI commands implementation
2018-01-25 15:27:55 +01:00
bedaafcc20
NAV_CMD_DO_SET_ROI: handle relative altitude in mission ROI commands
2018-01-22 15:56:42 +01:00
956935141e
Navigator simplify mission
2018-01-14 12:53:53 +01:00
25c7a03a8b
Navigator remove unnecessary calls to updateParams
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- the SuperBlock already does this
2018-01-14 12:53:53 +01:00
545f8c4452
RTL optionally use planned mission landing ( #8487 )
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- adds new RTL_LAND_TYPE parameter
2018-01-04 23:42:01 -05:00
58d1cdc733
Allow MAV_CMD_DO_SET_HOME as a mission command
2017-12-20 10:19:07 +01:00
6d8d6323cb
navigator: bring follow me back to life
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The function `mission_item_to_position_setpoint()` is called in
`FollowTarget::update_position_sp()`. The nav_cmd is a
NAV_CMD_DO_FOLLOW_REPOSITION as set earlier in `set_follow_target_item`.
Since `mission_item_to_position_setpointi` returns early because the item
presumably contains no position, the lat/lon of the mission_item are
not copied over to the position_setpoint and therefore the vehicle will
never move in follow me position mode.
2017-10-29 12:58:00 +01:00
4416c4ddb3
navigator move parameters out of MissionBlock
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- MissionBlock is an interface with > 10 implementations
2017-10-26 22:43:53 +02:00
8a0a8e20e1
mc_pos_control: use correct altitude as limit
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fadfdasf
2017-10-10 10:28:07 +02:00
f9b8afc006
Navigator: Use maximum flight altitude to limit missions
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This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
2017-10-10 10:28:07 +02:00
3c18be387c
ROI - move handling to navigator ( #7939 )
2017-09-26 12:25:02 -04:00
919b3a218a
Factor in reverse pusher delay on mission acceptance radius
2017-09-13 17:25:41 +02:00
e9516db5b0
Back transition duration based on deceleration m/s/s
2017-08-16 03:06:13 +02:00
David Jablonski