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Commit Graph
294 Commits
Author SHA1 Message Date
Roman 42d0522cdd FixedWingAttitudeControl: removed check for negative airspeed and slew rate 
on airspeed scaling

Signed-off-by: Roman <bapstroman@gmail.com>
 2019-04-24 14:27:37 +02:00
Daniel Agar 36aeb9defc WIP: FW attitude control limit airspeed scaling changes per iteration 2019-04-24 14:27:37 +02:00
bresch 20f870137b FW auto - Add parameter for flaps setting during landing 2018-11-23 10:40:27 +01:00
Daniel Agar f9a3235709 remove unused parameter VT_AIRSPD_RULE (#10897) 
- fixes #10896
 2018-11-22 17:43:33 -05:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819) 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
 2018-11-21 20:32:40 -05:00
bresch d69cba5db9 FW trim - Fix typos in FW_DTRIM_R/P/Y_VMAX 2018-10-09 10:37:22 +02:00
Daniel Agar 9a4de09325 sensors remove airspeed negative check 2018-07-16 01:09:19 -04:00
Thomas Stastny 8a7919bcb6 fw att+pos ctrl: use enum for flaps configs 2018-07-11 08:08:13 +02:00
Thomas Stastny 0c3399433d fw att+pos ctrl: add takeoff flaps setting 2018-07-11 08:08:13 +02:00
Philipp Oettershagen ba2cf5fa9a fw_att_control: Fix stuttering rudder in manual mode (#9607) 
fw_att_control: Fix bug that caused the rudder to stutter when FW_RLL_TO_YAW_FF>0 and aileron input was supplied
 2018-06-06 12:31:24 +02:00
Daniel Agar 222a91c6be mathlib delete Matrix, Quaternion, Vector 2018-05-23 17:27:09 -04:00
Daniel Agar e33da0a821 fw_att_control set default yaw rate max and update parameter descriptions 2018-05-14 00:56:46 +02:00
Daniel Agar 2e92484325 ecl update to latest master with separate libraries (#9406) 2018-05-03 23:48:09 -04:00
Daniel Agar ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00
Roman 8f9e8a6282 FixedWingAttitudeControl: use trim airspeed if airspeed is disabled 
- prior to this fix the fw attiude controller used airspeed to scale control
surfaces even though airspeed was disabled

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-11 15:03:45 +02:00
Daniel Agar 29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Beat Küng 51ca01ce04 FixedwingAttitudeControl: remove SuperBlock dependency 2018-03-22 08:19:08 +01:00
Daniel Agar b7bfeb442e fw_att_control move to matrix lib math 2018-03-21 14:08:47 -04:00
Thomas Stastny 52e5e0df14 fw_att_control: schedule trims for airspeed and flap deployment (#8937) 2018-03-16 16:55:44 -04:00
Roman 64b97cb18e fw_att_control: in acro use thrust from rate setpoint topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-09 13:48:14 +01:00
Thomas Stastny 74730273c1 fw_att_control move angular rate limits to body angular rates (#9023) 
* ecl: attitude_fw update
- move angular rate limits to body angular rates
- handle rattitude/acro vs attitude mode rate limits
 2018-03-08 22:55:45 -05:00
Daniel Agar 19e706fede fw_att_control fix attitude setpoint publication 2018-02-21 21:07:29 -05:00
Daniel Agar a0f115b9ae fw_att_control consolidate flaps code 2018-02-21 21:07:29 -05:00
Daniel Agar 4cb71f209f fw_att_control centralize manual setpoint generation 2018-02-21 21:07:29 -05:00
Daniel Agar 7fa858ad84 fw_att_control only store battery_status scale 2018-02-21 21:07:29 -05:00
Daniel Agar 94b8e4a2bf fw_att_control remove commented warnings 2018-02-21 21:07:29 -05:00
Daniel Agar dcc47020a4 fw_att_control update params before poll 2018-02-21 21:07:29 -05:00
Daniel Agar bf42964432 fw_att_control don't store entire vehicle_land_detected message 2018-02-21 21:07:29 -05:00
Daniel Agar 063714c42c fw_att_control initialize all fields in header 2018-02-21 21:07:29 -05:00
Daniel Agar 15fb60c48f fw_att_control delete unused loop_counter 2018-02-21 21:07:29 -05:00
Daniel Agar 1897b93cd2 fw_att_control rename fw_att_control_main.cpp to match class 2018-02-21 21:07:29 -05:00
Daniel Agar 426f2cce2e fw_att_control split header into separate file 2018-02-21 21:07:29 -05:00
Daniel Agar 80de3f48c8 fw_att_control remove debug code 2018-02-21 21:07:29 -05:00
Daniel Agar 559e2c211a fw_att_control move to ModuleBase 2018-02-21 21:07:29 -05:00
Daniel Agar 8b63dbecde FW controllers initialize vtol_type to a non-valid value 
- tailsitter is vtol type 0
 2018-02-11 17:12:45 +01:00
Daniel Agar 2bea09a997 rate controller status include rates 
- the actual corrected rates currently used by mc_att_control are not
   logged
 2018-01-29 09:10:56 -05:00
Andreas Antener 98441ac100 Log rate controller integrators (FW + MC) 2018-01-29 09:10:56 -05:00
Daniel Agar c7b5a6f463 FW delete unused yaw coordination parameters 2018-01-03 16:28:50 +01:00
Daniel Agar 757d905089 FW improve FW_ARSP_MODE metadata options 
- fixes #8563
 2018-01-03 08:18:22 +01:00
Daniel Agar fc7c8b4b89 vehicle_status delete engine_failure_cmd 2017-12-27 02:41:10 +08:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
Daniel Agar b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
bresch 25bbe76530 FW att ctrl - Fix vehicle_attitude_setpoint timestamp logging when in stabilized (#7803) 2017-08-16 20:38:19 -04:00
CAI Dongcai 63306ada92 FW attitude and position control minor code cleanup (#7802) 
- change a little bit to make the code more readable
 2017-08-16 10:51:41 -04:00
sanderux 2c4bbf3f44 Consistent capital use 2017-08-09 10:35:44 +02:00
Lorenz Meier 5f12259dfd FW att controller: Use attitude controller scheduling order 2017-08-02 21:18:35 +02:00
Lorenz Meier 8dd96e960d Fixed wing attitude controller: Run at maximum priority. 
This ensures attitude control runs first before any other system component.
 2017-08-02 21:18:35 +02:00
Daniel Agar 66f0912b9d FW attitude don't poll parameter_update 2017-07-29 09:15:52 +02:00
CAI Dongcai 0dfd8cd039 Update fw_att_control_main.cpp 
Make the declarations of the  variables "roll_sp, pitch_sp, yaw_sp, throttle_sp," in the main loop more readable.
 2017-06-04 18:17:29 +08:00
Daniel Agar 64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00