8cc2a7018e
VelocitySmoothing - Re-enable time stretch, integrate dt to get local time.
...
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
2019-09-17 09:27:00 +02:00
c7696488fe
VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity
...
This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
2019-09-17 09:27:00 +02:00
052932fa95
VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class
2019-09-17 09:27:00 +02:00
c13499e64b
test_velocity_smothing - Update test script to use new polynomial evaluation algorithm
2019-09-17 09:27:00 +02:00
a03cc495ce
VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration
...
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
2019-09-17 09:27:00 +02:00
d4f984fea5
FlightTaskAutoLineSmooth: Fix comment to be style compliant
2019-09-13 18:10:05 +02:00
47401d1177
AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs
...
This function constrain the absolute value of some value but keeps the original sign.
2019-09-13 17:46:01 +02:00
3c5b24037a
AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator.
...
Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
2019-09-13 17:46:01 +02:00
59f54a7fd8
mathlib - Add FLT_EPSILON deadzone in sign computation
2019-09-13 17:46:01 +02:00
78279f6587
Unit tests for Obstacle Avoidance interface ( #12816 )
...
* FlighTask: remove legacy definition of empty_trajectory_wapoint
* add unit tests for the ObstacleAvoidance interface
2019-09-12 14:37:31 +02:00
39451b811a
Do syscall for time once, outside of loop
2019-09-11 12:34:59 -04:00
b27d6a958a
Account for the time since range data arrived
2019-09-11 12:34:59 -04:00
94ef585f76
Link to missing params docs
2019-09-11 09:17:00 -04:00
a8fbe6bba2
Remove references to pow(x,0.5), use sqrt instead ( #12928 )
...
* Remove references to pow(x,0.5), use sqrt instead
* Update matrix library
2019-09-10 13:29:39 +02:00
ddd9a97d42
Modify the LeddarOne driver class to utilize the PX4RangeFinder library.
2019-09-06 11:59:29 +02:00
f3c5ca6015
Collision Prevention: support multiple sensors and frames ( #12883 )
...
* build internal sensor map
* Extend testing coverage
* Update matrix library
2019-09-06 08:38:56 +02:00
7bea81f02c
Add board orientation ROLL_90_YAW_270
2019-09-05 20:41:32 -07:00
c75954fef8
lib/led: temporarily ignore implicit fallthrough warning
2019-09-04 20:03:02 -07:00
69475a172b
Update submodule ecl to latest Wed Sep 4 08:37:31 EDT 2019
...
- ecl in PX4/Firmware (da6970329175df98ff46b2d9ddfa467ba438bb2e): https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7
- ecl current upstream: https://github.com/PX4/ecl/commit/3b32ee41660afd4785c374355e0fdefdae83e9b9
- Changes: https://github.com/PX4/ecl/compare/62fa464e4dd6cb5e585d23bd353aa50a469879f7...3b32ee41660afd4785c374355e0fdefdae83e9b9
3b32ee4be368f3c5abfe667512d8a2ff41553eac6e933c32cea352a605196db
2019-09-04 08:09:36 -07:00
5e9cae11f8
controllib: fix for undefined sanitizer
2019-09-03 11:54:09 -05:00
4d9f2bf776
add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate
2019-09-02 20:06:50 -04:00
b0f82ee8ac
CollisionPrevention: update orb_publish to uORB::Publication<>
2019-09-02 15:35:34 -04:00
bc58bed960
Add test for jerk reduction
2019-09-02 14:51:18 +02:00
865157228f
Add collision prevention velocity limitations also based on max accel/jerk
2019-09-02 14:51:18 +02:00
f0ee0b5d49
MixingOutput: make scheduling configurable
...
And make sure fmu calls MixingOutput::updateSubscriptions on startup even
if no mixer is loaded, so that it gets scheduled.
2019-08-31 10:05:00 -04:00
a2ebbe9066
pwm_limit: rename to output_limit
...
As there is nothing pwm-specific about it.
2019-08-31 10:05:00 -04:00
1bee984bb0
MC_AIRMODE: move parameter definition to mixer_module
...
Makes sure that the parameter is included for the builds that need it.
2019-08-31 10:05:00 -04:00
077b229655
MixingOutput: make mixer loading thread-safe
2019-08-31 10:05:00 -04:00
d3fb610fde
mixer_module: create MixingOutput library and use in fmu
...
This should be a pure refactoring, no functional change.
2019-08-31 10:05:00 -04:00
d3c7d06288
FlightTaskOrbit: don't apply yaw feed forward in circle approach
...
The yaw pointing towards the center makes sense since that's the approach
direction anyways. But with the yaw feed forward results in a weird looking
bias when not orbiting yet.
2019-08-31 14:25:39 +02:00
7774b150a9
FlightTaskOrbit: only reapproach circle if center changed
...
The condition that the vehicle is more than 3m away from the circle line
was too sloppy. That often happens when the radius is changed by sticks.
A reapproach is only necessary when the center is moved and that's only
possible through the orbit command.
2019-08-31 14:25:39 +02:00
cca7596bcd
FlightTaskOrbit: use StraightLine library to approach circle
...
The initial approach to the circle to orbit on was very agressive since
it was just the controller trying to stay on the circle reaching the
limits. Now there's first an approach phase in which the vehicle reaches
the circle trajeectory in a smooth perpendicular line before starting the
orbit execution.
2019-08-31 14:25:39 +02:00
345ad06d7e
StraightLine: rewrite old implementation
...
Before it was:
- not used anywhere
- copied from an old mission implementation version
- didn't plan in advance
- had a lot of broken cases
- dependent on a lot of parameters
I'm starting with a new relatively simple implementation that works as
expected for a minimum viable implementation and can be improved over time.
The first version is used to approach the circle path in Orbit mode to
verify the interface and get testing such that it gets eventually used
everywhere.
2019-08-31 14:25:39 +02:00
43fdcd7876
px4_middleware: remove that header and move px4::init to px4_init.h
...
delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
2019-08-30 07:59:44 +02:00
f32abe8534
src/platforms: move remaining source files to platforms/common
2019-08-30 07:59:44 +02:00
f8e0441e7b
src/platforms/common: move to platforms/common
...
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
2019-08-30 07:59:44 +02:00
3bdfd8ce8d
ToneAlarmInterface: move to drivers/drv_tone_alarm
...
It belongs there since it's not a library providing the implementation, but
just declaring the interface.
2019-08-30 07:59:44 +02:00
fe73cef224
TestVelocitySmoothing - Split time synchronization and final state checks into two different test functions
...
Also improve the comments
2019-08-29 15:20:53 +02:00
94d15931f2
TestVelocitySmoothing - Remove useless function override, use ceil instead of ceilf and remove line duplicate
2019-08-29 15:20:53 +02:00
5b82fa3a0f
TestVelocitySmoothing - add check for time synchronization and final acceleration
2019-08-29 15:20:53 +02:00
f40d571858
VelocitySmoothing - add zero setpoint test
2019-08-29 15:20:53 +02:00
c59bcc686c
VelocitySmothing - Add gtest script
2019-08-29 15:20:53 +02:00
1e510f5a44
[FlightTasks] Added class enum for FlightTasks errors ( #12822 )
2019-08-29 14:48:52 +02:00
511438d6ef
Update submodule matrix to latest Thu Aug 29 00:42:01 UTC 2019
...
- matrix in PX4/Firmware (341c0ae739753db98dcd0711e91f621c1666b16d): https://github.com/PX4/Matrix/commit/56b069956da141da244926ed7000e89b2ba6c731
- matrix current upstream: https://github.com/PX4/Matrix/commit/cc084e0791535e8426780e6a4f05794804db1b82
- Changes: https://github.com/PX4/Matrix/compare/56b069956da141da244926ed7000e89b2ba6c731...cc084e0791535e8426780e6a4f05794804db1b82
cc084e0#82 )
84b3da2#81 )
2019-08-28 21:45:09 -04:00
3fa3cbd28a
version: add beta tag
...
This adds the "beta" tag and adds a dash before "rc" or "beta".
2019-08-23 13:18:52 +02:00
68078795c0
px_update_git_header.py: allow -beta/-rc in tag
...
This changes two things:
- This adds "-beta" as a valid tag suffix.
- This changes "rc" without "-" to "-rc". "rc" without is now described
as deprecated and with "-rc" is preferred.
2019-08-22 18:45:50 +02:00
f4b40865af
SmoothVel - Fix altitude lock logic.
...
It was broken because _velocity_setpoint is used for input and output
and was assumed to be the input at a place where it was already overwitten
To clarify this, the input setpoint is renamed "target"
2019-08-22 16:43:41 +02:00
5c68880b56
Reset parameters in test setup, not teardown
2019-08-21 14:53:41 +02:00
63140f1d61
Do a single setup of uORB/Parameters instead of once every test
2019-08-21 14:53:41 +02:00
ab28f1e4f7
Navigator: VTOL: disable weather vane during yaw aligning before front transition
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2019-08-21 10:08:04 +02:00
bresch