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Commit Graph
546 Commits
Author SHA1 Message Date
Daniel Agar 2eea0af843 navigator only accept waypoints if !landed 2016-03-03 10:15:35 +01:00
Lorenz Meier 509be82081 Navigator: Show feedback on pause / continue command 2016-02-28 11:17:27 +01:00
Lorenz Meier 64a6c16fb6 Add reposition command support 2016-02-27 11:22:39 +01:00
Lorenz Meier 362e0316f7 Navigator: Forward trigger distance commands 2016-02-23 09:25:47 +01:00
Mark Charlebois 0637437d8d Backed out added code from bad merge 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:44 +01:00
Mark Charlebois 014f15d8b0 Rebase changes on upstream master 
This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:43 +01:00
Mark Charlebois 9cf44c0a31 Backed out added code from bad merge 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:42 +01:00
Mark Charlebois 9f3bf8e9f4 Rebase changes on upstream master 
This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:41 +01:00
sander 90276fa3a7 VTOL: check feasibility as rotary wing 2016-02-18 21:42:37 +01:00
Andreas Antener 967b404de8 only run FW posctl in FW mode and ramp up desired airspeed for tecs after transition 2016-02-18 18:55:56 +01:00
Andreas Antener 570fb97163 updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly 2016-02-15 23:29:47 +01:00
Andreas Antener eb5b8a32ee transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem 2016-02-15 23:29:38 +01:00
Andreas Antener bb4decfa8b implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default 2016-02-15 23:26:28 +01:00
Roman 80f8fcbdf6 implemented vtol weathervane yaw control for landing and loiter mission item 2016-02-15 09:48:37 +01:00
sander 581623cd48 Fix for transition failsafe 2016-02-11 23:38:30 +01:00
Andreas Antener ff43c1ab6a disable yaw on takeoff wp before heading update 2016-02-11 16:53:35 +01:00
Andreas Antener fb8b981015 make FOH and yaw mode work in parallel 2016-02-08 23:36:07 +01:00
Andreas Antener a63197b82b prevent home yaw mode for vtol during transitions 2016-02-08 11:09:12 +01:00
Andreas Antener 7af0816570 fixed yaw calculation for all yaw modes and stay during loiter items 2016-02-08 11:09:12 +01:00
Andreas Antener 20ef3adb1f set relative altitude to false when using the feedback for the landing waypint 2016-02-08 11:09:12 +01:00
Andreas Antener baa11e357d refactored do_set_servo handling and generalized formatting of CMD mavlink mission items, fixes #3644 2016-02-08 11:09:12 +01:00
Andreas Antener 46bd1cbacf only update previous setpoint if we read a new actual position setpoin, prevent yawing between waypoints inside the acceptance radius 2016-02-08 11:09:12 +01:00
Andreas Antener 134e95efda don't use waypoint heading for landing descent 2016-02-08 11:09:12 +01:00
Andreas Antener b05465470a ignore wp altitude for intermediate landing wp so it doesn't descent before it is in landing mode 2016-02-08 11:09:12 +01:00
Andreas Antener fec7950424 prevent yaw setpoint from changeing constantly when we're over it 2016-02-08 11:09:12 +01:00
Andreas Antener 26c635359e updated some message severities and clarified reset in pos controller 2016-02-08 11:09:11 +01:00
Andreas Antener e32ec2a29a wait until until vehicle enters transition before continuing after transition command 2016-02-08 11:09:11 +01:00
Andreas Antener 1351c6f68c small fixes 2016-02-08 11:09:11 +01:00
Andreas Antener dfb31f2252 finish moving to waypoint after a back transition 2016-02-08 11:09:11 +01:00
Andreas Antener 0bdfb465cf set correct mission item type for aligning before transition 2016-02-08 11:09:11 +01:00
Andreas Antener ff47cae7c1 removed warning 2016-02-08 11:09:11 +01:00
Andreas Antener 02aa0eacd5 align towards next waypoint before MC to FW transition 2016-02-08 11:09:11 +01:00
Andreas Antener b75eaf3c4a implemented takeoff before WP and move to WP before land 2016-02-08 11:09:10 +01:00
Andreas Antener ac985ee1c7 fixed mission item iteration 2016-02-08 11:09:10 +01:00
Andreas Antener 93bc018c93 read current and next mission item at the same time, issue item commands while processing items, guarding setpoint from non-position items 2016-02-08 11:09:10 +01:00
sander 9e0c636b97 RTL transition set constant 2016-02-07 18:19:32 +01:00
sander 9ad39fec67 If VTOL then transition to RW before landing in RTL 2016-02-07 18:19:32 +01:00
sander 949b0738e1 Remove run-once procedure on check_dist_1wp 2016-02-07 17:56:10 +01:00
Andreas Antener 48ea0230e1 minimum clearance for separate takeoff item needs to be bigger than acceptance radius 2016-02-07 01:32:34 +01:00
Andreas Antener 248bbcb520 use system specific acceptance radius for multirotor takeoff, ignore mission item 2016-02-07 01:32:34 +01:00
Lorenz Meier 1aff724ee2 Reject loiter turns 2016-02-06 13:42:03 +01:00
Lorenz Meier d8892eb86d Navigator: Announce app name in poll error return 2016-02-05 00:52:35 +01:00
sander fdcfb7c7c6 Mission feasibility fixes 
- Fixes https://github.com/PX4/Firmware/issues/3656
- Fixes https://github.com/PX4/Firmware/issues/3648
- Corrected spelling on method
 2016-02-04 20:44:35 +01:00
sander f0bad06bfd Fixes https://github.com/PX4/Firmware/issues/3658 2016-02-03 11:48:42 +01:00
Andreas Antener 3928924c43 RTL was broken by a recent change, revert 
Revert "for multicopter landings make sure that the copter moves"

This reverts commit ad1058d3742bbfa9cbd16648aa2925fa1e618a55.
 2016-01-26 15:53:52 +01:00
Lorenz Meier 081da8bb7f Navigator: Force yaw pointing towards waypoint for all cases 2016-01-24 16:34:36 +01:00
Lorenz Meier 737fe1fc7f Always perform yaw SP generation, not only in multicopter mode 2016-01-24 16:30:21 +01:00
Lorenz Meier 06b496e257 Navigator: Only set acceptance radius based on navigation capabilities for fixed wing flight. 2016-01-24 14:08:41 +01:00
sander 9a8e94bb68 Reject mission when starting with LAND and vehicle is landed 2016-01-24 11:19:00 +01:00
Roman 0102e47708 for multicopter landings make sure that the copter moves 
to the landing waypoint first before the descending phase starts
 2016-01-22 18:27:13 +01:00