ab1ae1fb4e
mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid
2018-07-20 09:26:18 +02:00
9362f844f4
position control: fix failsafe thrust
...
invert direction to point upwards and increase to 70% of throttle range between min and hover
2018-07-20 09:26:18 +02:00
7cc85885a4
position control: set _skip_controller before calling _interfaceMapping()
...
Without this failsafe will be overwritten
2018-07-20 09:26:18 +02:00
80867343ab
mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid
2018-07-20 09:26:18 +02:00
260284571d
mc_pos_control: move failsafe logic into method
2018-07-20 09:26:18 +02:00
ac2c49218d
mc_pos_control: remove mavlink_log_info
2018-07-20 09:26:18 +02:00
f11a65a74f
mc_pos_control: fix overwrite for state velocity
2018-07-20 09:26:18 +02:00
f2d559a4c2
mc_pos_control: minor refactor
2018-07-20 09:26:18 +02:00
cc0bc05156
mc_att_control: remove useless parameter MC_YAW_FF
...
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
2018-07-20 09:26:18 +02:00
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
2018-07-20 09:26:18 +02:00
bf4ac7a9d6
mc_pos_control: for terrain following use range sensor climbrate for velocity estimate
2018-07-20 09:26:18 +02:00
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
2018-07-20 09:26:18 +02:00
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
...
before applying limits
2018-07-20 09:26:18 +02:00
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
e51e1bbe74
mc_pos_control: replace legacy refactor
...
Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.
This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
2018-07-20 09:26:18 +02:00
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
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
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
a5e8eb23ad
PositionControl: saturate thrust integral
2018-07-20 09:26:18 +02:00
5ffcb6af01
PositionControl: set vel_dot to 0 if NAN
2018-07-20 09:26:18 +02:00
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
2018-07-20 09:26:18 +02:00
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
80775d588b
vehicle constraints: minimum distance to ground. currently used when distance sensor
...
is available
2018-07-20 09:26:18 +02:00
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
7b13803e2c
PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust
2018-07-20 09:26:18 +02:00
f30bf215db
MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled
2018-07-20 09:26:18 +02:00
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
2018-07-20 09:26:18 +02:00
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
e8620708b3
PositionControl: set states to zero if not valid
2018-07-20 09:26:18 +02:00
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
e6f6e2085c
ControlMath: remove false comment
2018-07-20 09:26:18 +02:00
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
414f38b677
test_controlmath: work around for internal compiler error: in trunc_int_for_mode, at explow.c:55
2018-07-20 09:26:18 +02:00
c56ae130a7
test_controlmath remove static
2018-07-20 09:26:18 +02:00
9c7c60ddc8
remove mc_pos_control_tests
2018-07-20 09:26:18 +02:00
89c266e699
by value to reference
2018-07-20 09:26:18 +02:00
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
Dennis Mannhart