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Author SHA1 Message Date
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 e6f04ad34a FlightTaskManualPosition: fix position lock 2018-04-05 07:30:12 +02:00
Dennis Mannhart 46c7b1c26c FlightTaskManualAltitude: fix position lock; use default constructor for initialization 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 f1b3010c70 FlightTaskManualAlt/Pos: add deadzone fox xy/z 2018-04-05 07:30:12 +02:00
Dennis Mannhart ec4089cebf FlightTaskManualAltitude: add deadzone for yaw 2018-04-05 07:30:12 +02:00
Dennis Mannhart cd1e01d5a0 FlightTaskManual: add px4_defines 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6276d0a8ef FlightTasks CMakeLists: add FlightTaskManualPosition 2018-04-05 07:30:12 +02:00
Dennis Mannhart 26a5eae7b1 FlightTasks: add FlighttaskManualPosition 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 0afd0807bb FlightTaskPosition: brake depends on acceleration 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 deac27ee52 FlightTaskManualAltitude: brake depends on acceleration; description clean up 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 10a50dd97e FlightTaskManual: switch to camel case 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
Dennis Mannhart 6adc1755cc FlightTaskManualPosition: most basic implementation 2018-04-05 07:30:12 +02:00
Dennis Mannhart b5c19f6483 FligtTaskManualAltitude: split functionality such that scale_stick values and the update_setpoints can be overwritten 2018-04-05 07:30:12 +02:00
Dennis Mannhart ea61af3164 FlightTaskManualAltitude: added to lib 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4f5fa33e74 FlightTaskManualAltitude: scale stick z to velocity 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4dfd9ce8ed FlightTaskOrbit: replace sticks (which are now linear) with expo 2018-04-05 07:30:12 +02:00
Dennis Mannhart e076825d78 FlightTaskManual: remove everything except of stick mapping 2018-04-05 07:30:12 +02:00
Matthias Grob 2b6e356c91 FlightTaskManual: fix for the sideways oscillations in fast foward flight when using the vehicle yaw estimate 2018-04-05 07:30:12 +02:00
Matthias Grob 089ebcbfa4 FlightTaskManual: fix two very stupid mistakes in the yaw hold logic 2018-04-05 07:30:12 +02:00
Matthias Grob 37e0f91c39 FlightTaskSport: scale maximal stick input to maximal allowed velocity instead of being hardcoded for testing 2018-04-05 07:30:12 +02:00
Matthias Grob 6c0acf8e13 FlightTaskManual: enable non-carrot velocity method also for yaw 2018-04-05 07:30:12 +02:00
Matthias Grob 975ac11635 mc_pos_control: enable yawspeed execution for tasks 2018-04-05 07:30:12 +02:00
Matthias Grob a896332746 FlightTaskManual: fixed stick vector index bug and enabled basic yaw setpoint control 2018-04-05 07:30:12 +02:00
Matthias Grob a00c3e4024 FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value 2018-04-05 07:30:12 +02:00
Matthias Grob de872ca047 FlightTaskManual: remove the smoothing from the task to add it later in a child class 
also separated the velocity scaling to enable sport mode
 2018-04-05 07:30:12 +02:00
Matthias Grob 6070d72308 FlightTasks: Various review refactoring 2018-04-05 07:30:12 +02:00
Matthias Grob 4d0dca5dd5 FlightTask: make applyCommandParameters getting called recursively & pass command by reference 2018-04-05 07:30:12 +02:00