Matthias Grob
fbd64fbdd8
FlightModeManager: publish takeoff status
2021-01-31 11:37:00 +01:00
Daniel Agar
d1dfa26903
consume all available queued vehicle_commands
2021-01-26 12:00:18 -05:00
Matthias Grob
031bbb7f3e
FlightModeManager: handle commands all the time
...
Moving the command handling to a separate function that gets called
whenever a vehicle command is available to always react on commands
and not just when already a task is running.
This solves e.g. commanding an Orbit when in Staibilized.
2021-01-17 15:46:30 +01:00
Matthias Grob
df54f938ef
FlightModeManager: correct setpoint struct initialization
...
It is important that setpoints get initialized with NAN and not overwritten
if specifically set by a successful flight task execution. It's then
clear if any setpoints were intentionally and successfully set.
Crucial for the position controller's emergency failsafe and the
seamless setpoint handover to the next flight task.
2021-01-17 15:46:30 +01:00
Matthias Grob
63db61a700
FlightModeManager: correct acceleration setpoint feedback naming
...
The variable was never renamed correctly in this in between layer when
we switched from normalized thrust to acceleration setpoints.
2021-01-17 15:46:30 +01:00
Daniel Agar
4d7b875ee2
flight_mode_manager: merge with flight_tasks
2021-01-17 15:46:30 +01:00
xdwgood
802c68a62e
Do not run transition flight task when not enable altitude control
2021-01-08 10:28:00 +01:00
RomanBapst
fe2e299046
FlightModeManager: small rebase change
...
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2020-12-30 10:25:08 -05:00
Matthias Grob
e92795b474
Temporary logging addition to debug CI
2020-12-30 10:25:08 -05:00
Matthias Grob
fafbb687d8
FlightModeManager: fix integral reset on ground
...
This information could also be used for yaw and integral
resets of the lower level controllers.
2020-12-30 10:25:08 -05:00
Matthias Grob
62ada2e2dc
FlightModeManager: restore weathervane calls
...
I had to do an extra subscription to the vehicle attitude.
I don't know how to test this.
2020-12-30 10:25:08 -05:00
Matthias Grob
aa888223f0
FlightModeManager: fix takeoff state in stabilized mode
2020-12-30 10:25:08 -05:00
Matthias Grob
8edb06e94f
FlightModeManager: make sure emergency failsafe works
2020-12-30 10:25:08 -05:00
Matthias Grob
8329208b84
FlightModeManager: fix takeoff ramp from zero
2020-12-30 10:25:08 -05:00
Matthias Grob
88c274b3cd
MulticopterPositionControl: 2nd pass to move to FlightModeManager
2020-12-30 10:25:08 -05:00
Matthias Grob
f52bad87e2
mc_pos_control: separate out flight_tasks (into FlightModeManager)
2020-12-30 10:25:08 -05:00
Matthias Grob
fa7170bc4f
Add FlightModeManager
...
to separate out setpoint generation from controllers
2020-12-30 10:25:08 -05:00
