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10658 Commits

Author SHA1 Message Date
Dennis Mannhart
85a263c7bd vehicle local position setpoint: use array for thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
a74c1116ee mc_pos_control/PositionControl: enable thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
0ca823eb30 PositionControl: remove thrust as state; add thrust setpoint support 2018-04-05 07:30:12 +02:00
Dennis Mannhart
7a4796a6e3 rename TranslationControl to PositionControl 2018-04-05 07:30:12 +02:00
Dennis Mannhart
b4d56ed51a mc_pos_control: publish yaw_move_rate 2018-04-05 07:30:12 +02:00
Dennis Mannhart
1cad36efb9 ControlMath: use sign for direction 2018-04-05 07:30:12 +02:00
Dennis Mannhart
b0b72e63e7 TranslationControl: remove throttle 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6a4e3bb94e TranslationControl: update comments 2018-04-05 07:30:12 +02:00
Dennis Mannhart
8da2ff4d77 mc_pos_control: set local position setpoint message for idle; for logging purpose, 
always send local position setpoint when in air
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ac4379d13f TranslationControl: initialize with default constructor 2018-04-05 07:30:12 +02:00
Dennis Mannhart
e1ab31a5fc TranslationControl: replace matrix::Vector3f with Data 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ddecb4d3a4 teest_controlmath: incomplete set of thrust to attitude tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart
bcbd3dc527 ControlMath: thrust to attitude method (legacy method) 2018-04-05 07:30:12 +02:00
Dennis Mannhart
adcb2b9ca8 TranslationControl: index fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
840247251d ControlMath: sign fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
09bf73945a ControlMath: rename namespace to file name 2018-04-05 07:30:12 +02:00
Dennis Mannhart
3b8c718971 TranslationControl: rename variable 2018-04-05 07:30:12 +02:00
Dennis Mannhart
2a544cee43 TranslationControl: use reference insteady of by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ded8675dae ControlMath: change description name 2018-04-05 07:30:12 +02:00
Dennis Mannhart
5fbee9fce9 ControlMath tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart
03c81a8948 ControlMath: never saturate in xy when vector is below minimum 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6daf78494a TranslationControl: adjust direction based on constrainPIDu inputs 2018-04-05 07:30:12 +02:00
Dennis Mannhart
75b6af77de ControlMath: fix index and don't adjust sign with method but rather function caller 
needs to adjust for sign
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
19d50f9511 ControlMath: index fix and scaling fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
c9cd920642 rename VectorMath to ControlMath 2018-04-05 07:30:12 +02:00
Dennis Mannhart
820d6e866f TransitionControl: replace thrust constraints with VectorMath functions; 
temporary: remove thrust projection onto body frame
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
41a5ea6daa Multicoper position control: function file for controller specific functions 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6ffa7a96ba mc_pos_control: method for publishing attitude and local_pos_sp 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6e63ddacd2 yaw setpoint: add math::radians 2018-04-05 07:30:12 +02:00
Dennis Mannhart
f0f84d300b TranslationControl: move mc_pos_control related logic into TranslationControl 2018-04-05 07:30:12 +02:00
Dennis Mannhart
9ac32a764f TranslationControl added to CmakeLists.txt 2018-04-05 07:30:12 +02:00
Dennis Mannhart
85c1627c74 TranslationControl: new class that generates thrust vector from state and setpoints 2018-04-05 07:30:12 +02:00
Beat Küng
737f7df6b8 Subscription & SubscriptionArray: add forcedUpdate() methods 
Can be used to immediately get & use the data, as needed for the flight
tasks.
 2018-04-05 07:30:12 +02:00
Beat Küng
9b571abb47 FlightTasks: add SubscriptionArray class that contains all subscriptions 
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
 2018-04-05 07:30:12 +02:00
Beat Küng
b821297f20 logger: add board subtype 2018-04-04 13:30:52 -04:00
DanielePettenuzzo
20f5de33df PX4IO Firmware: bug fix in variable initialization 2018-04-04 12:08:34 +02:00
Lorenz Meier
97e8ec9551 PX4IO Firmware: Only decode DSM if no other input method matched 
This ensures that the DSM decoder does not accidentally decode noise on the bus as DSM is not well-protected against CRC errors.
 2018-04-04 12:08:34 +02:00
Daniel Agar
f145b65cbb mavlink static streams_list array 2018-04-03 18:37:51 -04:00
Daniel Agar
450229c2a4 dataman operations table is constexpr 2018-04-03 18:37:51 -04:00
dw.xiong
381c2b52ac commander: Remove the ekf pre-flight check variables that are not used in commander. (#9226) 2018-04-02 10:52:32 -04:00
Roman
2257cfc0fa vtol_att_control: set flag in_transition_to_fw properly 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-30 00:46:23 -04:00
Daniel Agar
f0528d28fb commander once armed safety should only request ARMING_STATE_STANDBY 2018-03-29 10:25:56 -04:00
Daniel Agar
95ff860f4e commander cleanup includes and sort 2018-03-29 10:25:56 -04:00
Daniel Agar
0f6a94894d commander state machine helper fix code style 2018-03-29 10:25:56 -04:00
Daniel Agar
db7e8635a2 commander state machine helper pass battery and safety as const references 2018-03-29 10:25:56 -04:00
Daniel Agar
4ccfc280c8 commander arming_state_transition add HIL boolean 2018-03-29 10:25:56 -04:00
Daniel Agar
c547866029 Commander::handle_command() remove unused safety parameter 2018-03-29 10:25:56 -04:00
Daniel Agar
e395b3578f delete unused ARMING_STATE_ARMED_ERROR state 2018-03-29 10:25:56 -04:00
Daniel Agar
e29b568d33 state machine helper remove unused headers 2018-03-29 10:25:56 -04:00
Daniel Agar
bff2136db0 commander state machine helper use constexpr for strings 2018-03-29 10:25:56 -04:00