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Author SHA1 Message Date
Dennis Mannhart 453b6a39e4 TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries 2019-09-19 14:09:44 +02:00
Dennis Mannhart 3b92d49b64 replace + with && 2018-11-05 21:54:19 +01:00
Dennis Mannhart 6a0a9c92fb PositionControl: 
- set integral states and setpoint of reference state to 0
- set thrust to NAN if it will be computed from position and velocity control
 2018-11-05 21:54:19 +01:00
Dennis Mannhart e7e49d5b3c FlightTask don't require vehicle-local-positiion topic 2018-10-16 17:06:12 +02:00
Dennis Mannhart 16ca0be4e5 FlightTaskAuto: set reference to 0 if auto is requested but no global position available 2018-08-30 09:44:54 +02:00
Dennis Mannhart 3222f583c8 use matrix .zero 2018-08-30 09:27:48 +02:00
Dennis Mannhart e2e8d6d135 mc_pos_control_main: fix comment and remove line that is not used 2018-08-30 09:27:48 +02:00
Dennis Mannhart a24fdb93c3 FlightTaskManual: increase rc timeout to 1.5 x COM_RC_LOSS_T 2018-08-30 09:27:48 +02:00
Dennis Mannhart 1f1c9fde01 FlightTaskAuto: lock yaw once within acceptance radius 2018-08-30 09:27:48 +02:00
Dennis Mannhart 72f1fca55c mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2 2018-08-30 09:27:48 +02:00
Dennis Mannhart 8714b216b0 FlightTaskFailsafe: comments and land with land speed if velocity in z is valid but altitude not 2018-08-30 09:27:48 +02:00
Dennis Mannhart 3d250b3b83 FlightTaskAutoLine: don't update yaw if waypoints are too close together 2018-08-30 09:27:48 +02:00
Dennis Mannhart 81c5025ad8 mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of 
the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
 2018-08-30 09:27:48 +02:00
Dennis Mannhart 06c10f61c1 mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail 2018-08-30 09:27:48 +02:00
Dennis Mannhart 4d9f96bfbd FlightTaskFailure: will hover if position available, will land if velocity valid and 
will land with 0.3 of hover thurst if position nor velocity is valid
 2018-08-30 09:27:48 +02:00
Dennis Mannhart 9a23295a40 heading update: do not update heading within NAV_ACC_RAD 2018-08-10 15:52:10 +02:00
Dennis Mannhart 4a91074aaa FlightTaskAuto: add comment 2018-08-03 08:24:34 +02:00
Dennis Mannhart a24b614dec FlightTaskAutoLine: generate heading along track if yaw setpoint is not valid 2018-08-03 08:24:34 +02:00
Dennis Mannhart e0f505ec57 mc_pos_control_param: MPC_YAW_MODE remove option "set by waypoint" because that 
is executed at any time if triplet as valid yaw waypoint
 2018-08-03 08:24:34 +02:00
Dennis Mannhart 02feb10865 FlightTaskAuto: triplet yaw-setpoint has priority over MPC_YAW_MODE. 
Add MPC_YAW_MODE option for heading along trajectory, which will be the same as
option 0 (heading towards target) if trajectory is straight line
 2018-08-03 08:24:34 +02:00
Dennis Mannhart 694f49c80a FlightTaskAuto: method for computing heading from 2D vector 2018-08-03 08:24:34 +02:00
Dennis Mannhart 6cd16f345e FlightTaskAuto: set heading based on yaw mode 2018-08-03 08:24:34 +02:00
Dennis Mannhart f0282bcd8f FlightTaskAuto/Line: make params protected and add NAC_ACC_RAD and MPC_YAW_MODE 2018-08-03 08:24:34 +02:00
Dennis Mannhart 27812ad7ac mc_pos_control_params: add MPC_YAW_MODE for heading during auto 2018-08-03 08:24:34 +02:00
Dennis Mannhart d704a2d675 mission_param: remove MIS_YAWMODE 2018-08-03 08:24:34 +02:00
Dennis Mannhart 7723860f37 remove unused constant 2018-08-02 09:23:17 +02:00
Dennis Mannhart a06ff4a2ce FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments 2018-08-02 09:23:17 +02:00
Dennis Mannhart 338ca3104c FlightTaskAutoLine: remove activate method bc uses same impl as FlightTaskAutoMapper 2018-08-02 09:23:17 +02:00
Dennis Mannhart 00e09524f7 SearchMin and BezierQuad: replace define with static constexpr (#10050) 2018-07-30 12:28:27 -04:00
Dennis Mannhart fc8a05f636 estimataor reset counter: set Flighttaskcounter equal reset-counter during activation (#10035) 
- fixes #10033
 2018-07-28 10:08:58 -04:00
Dennis Mannhart 9c0a6eb87a clang modernize: remove void argument 2018-07-25 08:50:10 +02:00
Dennis Mannhart 40f2388295 test_search_min: remove printf 2018-07-25 08:50:10 +02:00
Dennis Mannhart 609d412217 BezierQuad: use template type Tp for default 2018-07-25 08:50:10 +02:00
Dennis Mannhart 7559610a7b BezierQuad: update description, replace Data with Vector3_t 2018-07-25 08:50:10 +02:00
Dennis Mannhart 6ddf214bbd BezierQuad: set cached_arc_length once computed 2018-07-25 08:50:10 +02:00
Dennis Mannhart fe48e06f9d add tests for Bezier and Golden Section Search libraries 2018-07-25 08:50:10 +02:00
Dennis Mannhart c8842665da mathlib: add golden section search 2018-07-25 08:50:10 +02:00
Dennis Mannhart 90f95bca0e add Bezier library 2018-07-25 08:50:10 +02:00
Dennis Mannhart 18a3c08659 mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF 2018-07-20 09:26:18 +02:00
Dennis Mannhart ab1ae1fb4e mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid 2018-07-20 09:26:18 +02:00
Dennis Mannhart 260284571d mc_pos_control: move failsafe logic into method 2018-07-20 09:26:18 +02:00
Dennis Mannhart ac2c49218d mc_pos_control: remove mavlink_log_info 2018-07-20 09:26:18 +02:00
Dennis Mannhart f11a65a74f mc_pos_control: fix overwrite for state velocity 2018-07-20 09:26:18 +02:00
Dennis Mannhart f2d559a4c2 mc_pos_control: minor refactor 2018-07-20 09:26:18 +02:00
Dennis Mannhart b5731e0ccd FlightTaskOffboard: only start task if control mode flags are met 2018-07-20 09:26:18 +02:00
Dennis Mannhart bf4ac7a9d6 mc_pos_control: for terrain following use range sensor climbrate for velocity estimate 2018-07-20 09:26:18 +02:00
Dennis Mannhart eb7139bc56 FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor 2018-07-20 09:26:18 +02:00
Dennis Mannhart c907e7a9dc FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4af9d79986 FlighttaskManualPosition: check if estimator velocity maximum is finite 
before applying limits
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 29fb5089bd FlightTasks: construct all tasks in constructor 2018-07-20 09:26:18 +02:00
Dennis Mannhart b1530d1a81 FlightTasks: create struct that contains FlightTask and FlightTaskIndex 2018-07-20 09:26:18 +02:00
Dennis Mannhart 83cc2b0e72 FlightTaskAuto: reset lock position to NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart c12dcb4eed FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds 
to position lock.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 65ad6edaf0 ManualSmoothingXY: remove empty lines 2018-07-20 09:26:18 +02:00
Dennis Mannhart b9d5189fe5 ManualSmoothing: direction change with maximum acceleration 2018-07-20 09:26:18 +02:00
Dennis Mannhart a5e8eb23ad PositionControl: saturate thrust integral 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5ffcb6af01 PositionControl: set vel_dot to 0 if NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart 33d0a4e8ed FlightTaskAuto: replace target with destination for checks 2018-07-20 09:26:18 +02:00
Dennis Mannhart 92e93639d3 FlightTaskAuto: require valid position in 3D 2018-07-20 09:26:18 +02:00
Dennis Mannhart c4c01358b9 FlightTaskManualAltitude: do terrain following when distance sensor active and 
below minimum distance to ground.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart bd85f5f993 FlightTask: set min_distance_to_ground to NAN as default and when 
distance sensor is used to SENS_FLOW_MINRNG
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 80775d588b vehicle constraints: minimum distance to ground. currently used when distance sensor 
is available
 2018-07-20 09:26:18 +02:00
Dennis Mannhart ee7d5c3f38 FlightTaskAuto: remove unused member variable 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7b13803e2c PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust 2018-07-20 09:26:18 +02:00
Dennis Mannhart f30bf215db MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled 2018-07-20 09:26:18 +02:00
Dennis Mannhart e408870857 FlightTaskManual: remove unused override 2018-07-20 09:26:18 +02:00
Dennis Mannhart be6f3a5b48 FlightTaskOffboard: valid position and velocity is required 2018-07-20 09:26:18 +02:00
Dennis Mannhart bd2de0e585 FlightTaskAuto: valid target is required and valid reference 2018-07-20 09:26:18 +02:00
Dennis Mannhart 4713f47668 FlightTaskManualPosition: valid position/velocity in xy required 2018-07-20 09:26:18 +02:00
Dennis Mannhart 72a213aff7 FlightTaskManualAltitude: valid altitude/climb-rate is required 2018-07-20 09:26:18 +02:00
Dennis Mannhart fc4fa169df FlightTaskManualStabilized: valid yaw is required 2018-07-20 09:26:18 +02:00
Dennis Mannhart 2af253fa9f FlightTaskManual: sticks not to be finite 
activation method not needed
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 6a7a7d7ff7 FlightTask: check if states are valid. if not valid, set them to NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart e8620708b3 PositionControl: set states to zero if not valid 2018-07-20 09:26:18 +02:00
Dennis Mannhart b2af9c3f58 FlightTasks: error to char string message 2018-07-20 09:26:18 +02:00
Dennis Mannhart f62c3c3b8a FlightTaskAutoLine: simplify logic by setting setpoints directly 2018-07-20 09:26:18 +02:00
Dennis Mannhart 338130a9b4 FlightTaskAuto: simplify logic by just updating waypoints if anything has changed 2018-07-20 09:26:18 +02:00
Dennis Mannhart 171c19c3ca FlightTaskAutoLine: override _reset method 2018-07-20 09:26:18 +02:00
Dennis Mannhart e2347c30f6 FlightTaskAuto: comment fix 2018-07-20 09:26:18 +02:00
Dennis Mannhart 69ea4df45c FlightTaskAuto: pure virtual reset method 2018-07-20 09:26:18 +02:00
Dennis Mannhart 2c385e6967 FlightTaskAuto: remove unused include 2018-07-20 09:26:18 +02:00
Dennis Mannhart 3ae07843e9 position control: remove empty space 2018-07-20 09:26:18 +02:00
Dennis Mannhart 9ff4d13c2c mc_pos_control: remove unused method 2018-07-20 09:26:18 +02:00
Dennis Mannhart 75fb1b28b9 mc_pos_control: set thrust to zero if in idle 2018-07-20 09:26:18 +02:00
Dennis Mannhart 1fb8eaf6c6 mavlink_messages: add yawspeed to local position setpoint sent over mavlink 2018-07-20 09:26:18 +02:00
Dennis Mannhart 816f2d12d5 FlightTaskAuto minor clean up 2018-07-20 09:26:18 +02:00
Dennis Mannhart ae0f02f67d ControlMath: by value to reference 2018-07-20 09:26:18 +02:00
Dennis Mannhart 3c40aa0d9c PositionControl: if valid velocity and position setpoint available, always prioritize 
velocity setpoint generated from position error over velocity feedforward
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5551021d23 FlightTaskAutoLine: check if yaw_wp is finite 2018-07-20 09:26:18 +02:00
Dennis Mannhart 558a0f892c PositionControl: auto takeoff with constant speed 
PositionControl: remove takeoff logic

mc_pos_control: takeoff logic for flighttask

mc_pos_control: smooth takeoff throttle start at 0
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 6e62beb560 FlightTaskAuto: abstract class for mapping triplets to quadruple 
FlightTaskAuto: add type that corresponds to triplet type

FligthTaskAuto: set all setpoints if invalid in xy

FlightTaskAuto: cast triplet type to WaypointType

FlightTaskAutoLine: class for px4 legacy auto

FlightTaskAutoLine: methods prototype

FlightTaskAuto: change sp to wp (=Waypoint)
add params

FlightTaskAutoLine: follow waypoints along line based on flight state
 2018-07-20 09:26:18 +02:00
Dennis Mannhart 25c33d18b0 FlightTaskSport: just scale velocity septoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart fc62df856d ControlMath: reference to by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart 16d6ac6ad1 FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly 2018-04-05 07:30:12 +02:00
Dennis Mannhart 7f406aa251 FlightTaskManualSmoothingZ: remove empty space 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6538a7e88c FlightTaskSport: replace rotation by axis angle 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5bd2afa7be FlightTaskManualPositionSmooth: remove unused mehthods and member variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart d6fe2159ae FlightTaskManualPosition: remove update method and old member variable setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart a7f4859698 FlightTaskManualAltitudeSmooth: remove unused member methods/variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart c15b114cad FlightTaskManualAltitude: remove member setpoints and update method 2018-04-05 07:30:12 +02:00