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26,535 Commits 852 Branches 161 Tags
9a4de0932520fee1e073a5361855e30cd30ea3e4
Commit Graph
57 Commits
Author SHA1 Message Date
Daniel Agar 02d4405a62 c++11 default destructors 2018-06-30 19:55:08 -04:00
Daniel Agar 222a91c6be mathlib delete Matrix, Quaternion, Vector 2018-05-23 17:27:09 -04:00
Daniel Agar 4e32cb17df clang-tidy modernize-use-equals-default 2018-05-18 22:48:55 +02:00
Daniel Agar 977ab4e7b8 improve end to end control latency measurement (#9388) 2018-05-02 03:03:32 -04:00
Roman e7e791fb1a tailsitter: use forward transition throttle for climb-rate controlled mode 
- the mc pos controller will decrease throttle during the transition
and thus the vehicle will not pick up enough airspeed to complete the
transition

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-18 17:23:38 -04:00
Roman 79ff1436b8 vtol_att_control: move handling of motor state and idle speed selection 
to VtolType class

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman 744f806214 vtol_att_control: merge methods to disable a selection of motors 
- moved methods used to modify channel maximum pwm value to VtolType
class so that the can be shared by the differnt vtol types

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Daniel Agar 00f98c64db VTOL preserve PWM min and max when enabling/disabling actuators 2018-04-12 09:19:47 +02:00
Roman d6a86dfa56 tailsitter: do not condition transition on airspeed if airspeed disabled 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-05 08:48:36 +02:00
Daniel Agar 2ce8b6a984 delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman e4ea7262fd tailsitter.cpp: small cosmetic fix 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman b66bc712af tailsitter: avoid doing same calculation twice 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman ae2e6c7a18 tailsitter: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman bf22f02567 tailsitter: removed usage of hrt_elapsed and small cleanup 
- do not call hrt_elapsed_time since it's expensive
- remove P2 front transition phase (was not even used)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 5a2a5127fa tailsitter: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman ea3586cfd9 tailsitter: stop fiddling with thrust during transition and just let 
the mc pos controller handle it for now

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-01 12:16:27 -05:00
Daniel Agar 137a2444a8 VTOL standard respect VT_ELEV_MC_LOCK 2018-01-11 16:18:47 -05:00
Daniel Agar 66f614435f vtol_att avoid unnecessary work and delete unused 2018-01-02 01:35:57 +01:00
Jasmine 8bf12f512b vtol tailsitter attitude control (#7841) 
* revise pitch transition start and actuator_out_1 in transition

* update with new matrix math library
 2017-08-26 12:05:17 +02:00
Daniel Agar a0271fe020 astyle src/modules/vtol_att_control 2017-01-29 01:18:32 +01:00
Roman d77547e7e1 vtol_attitude_control: hotfix, do not update parameters on every iteration 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Lorenz Meier a12780c88f Remove attitude setpoint matrix from attitude setpoint topic 2016-10-19 10:17:41 +02:00
Roman a978d61d9a attitude message cleanup: more cleanup 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
tumbili 5e0e522903 adapted to new vehicle attitude message 2016-10-18 20:46:08 +02:00
Andreas Antener 8c9f4e8ab8 added which transition the vtol is in to vehicle status 2016-09-13 14:32:00 +02:00
Daniel Agar f58596bbcd vtol_att_control astyle 2016-05-19 21:49:34 +02:00
Andreas Antener 1a66155d8a use new method for instant transition in tailsitter 2016-05-11 17:29:50 +02:00
Andreas Antener 6eb2e62306 temporarily use indicated airspeed for transitions so we're consistent with tecs until we move tecs to true airspeed 2016-02-18 18:55:56 +01:00
tumbili 4c61b05ef3 tailsitter, tiltrotor: 
- use the transition trust when waiting for TECS to kick in
after transition
 2016-02-18 18:55:56 +01:00
tumbili fa52aa322a VTOL: pull up generic setpoint publishing 2016-02-18 18:55:56 +01:00
Roman a79c6be39b tailsitter: go into mc mode it transition switch not assigned 2016-01-04 18:19:22 +01:00
Roman 9d130653e1 vtol: added timestamps for actuator controls message 2015-12-24 10:18:24 +01:00
Roman e1597c2aa9 vtol standard: add weight to mc motor thrust to avoid sudden changes in rmp after transitions 2015-12-21 16:36:07 +01:00
Roman 7cb7245a84 corrected tailsitter actuator control outputs 2015-11-25 13:28:23 +01:00
tumbili 990eb68bbf allow direct switch to fw if disarmed 2015-11-25 13:28:23 +01:00
tumbili 330f174967 fix 2015-11-25 13:28:23 +01:00
Roman 7127f6a92f fixed code style 2015-11-25 13:28:23 +01:00
tumbili 0a0a074194 use virtual attitude setpoint 
Conflicts:
	src/modules/vtol_att_control/tailsitter.cpp
	src/modules/vtol_att_control/tiltrotor.cpp
	src/modules/vtol_att_control/vtol_att_control_main.cpp
	src/modules/vtol_att_control/vtol_att_control_main.h
	src/modules/vtol_att_control/vtol_type.h
 2015-11-25 13:28:22 +01:00
davidvor 945dda04ca comments 2015-11-25 13:28:22 +01:00
davidvor 76c479170a add transition back throttle value and angular rate 2015-11-25 13:28:22 +01:00
davidvor 19b9606486 simplifying transition for mc control only 2015-11-25 13:28:22 +01:00
davidvor 89b01fd45a turning on fw controler during p2 front transiion 
turning on fw controler during p2 front transiion
simpling the weight for testing
setting output more like fw for transition
 2015-11-25 13:28:22 +01:00
davidvor 059cffeb40 name change 2015-11-25 13:28:22 +01:00
davidvor c32f5910e0 name change 2015-11-25 13:28:22 +01:00
davidvor 2642b3fbea limit for pitch angle set point during transition 2015-11-25 13:28:22 +01:00
davidvor 093d4fdd15 development of autonomous transition 2015-11-25 13:28:22 +01:00
davidvor c39935f248 mixer for transition 
not final yet
 2015-11-25 13:28:22 +01:00
davidvor 6c5638062a tailsitter auto transition test! 
Conflicts:
	src/modules/vtol_att_control/tailsitter.cpp
 2015-11-25 13:28:22 +01:00
Roman 9ef2994134 fix code style of vtol files 2015-10-29 07:55:47 +01:00