bresch
83d90410ff
Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX
...
as written in the parameter desctiption
2019-06-14 09:56:56 +02:00
bresch
d13dfdcd24
AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate
2019-05-30 11:14:44 +02:00
bresch
bb055fdaf3
AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly
2019-05-22 22:05:38 +02:00
bresch
b726d8df0d
Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode
2019-05-17 14:15:29 +02:00
bresch
93d52581ef
Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK
2019-04-15 16:32:26 +02:00
bresch
b14446f0e5
Parameter update - Rename variables in lib
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using paramter_update.py script
2019-04-03 15:38:50 +02:00
bresch
a08b1682e3
[Position|AutoLine]SmoothVel - Update position and velocity states of the trajectories in case of EKF reset. Until now, only the position reset on XY axis was properly handled. Now, xy, vxy, z and vz are handled
2019-03-20 14:35:26 -04:00
bresch
0813f30723
AutoLineSmoothVel - change function contrain_one_side(..) from snake_case to camelCase
2019-03-20 14:35:26 -04:00
Daniel Agar
7eca2769a7
FlightTasks AutoLineSmoothVel initialize member
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- fixes Coverity CID 328492
2019-02-24 17:10:15 -05:00
bresch
df58e161d1
Trajectory auto - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
bresch
c3a4fff0cd
Auto traj - generate heading from trajectory velocity vector if possible
2018-11-06 22:17:00 +01:00
bresch
7205e8f359
Auto traj - Add Trajectory logging
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- 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
2c63388fb7
Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task
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