9c25b987bc
vehicle_local_position_setpoint: make acceleration and jerk arrays
2019-10-24 14:58:57 +02:00
c811cf4784
FlightTask - Move ekf reset counter monitoring logic in the base FlihtTask
...
Each child FlightTask can simply implement what it wants to do in case
of an EKF reset event by overriding one of the _ekfResetHandler functions
2019-09-24 10:34:08 +02:00
0153e1b126
Matrix - Explicitly cast array[3] to Vector3f
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Use .xy() for Vector2 -> Vector3 assignment
2019-09-19 17:31:49 +02:00
f5d7eb4d87
Refactor FlightTaskManualPositionSmoothVel
2019-09-19 17:31:49 +02:00
080eedfd02
ManualPositionSmoothVel - Split large function into smaller ones, split XY and Z axes
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Next step is to move as much as possible to a library in order to
reuse the Z axis in the Altitude FlightTask
2019-09-19 17:31:49 +02:00
8cc2a7018e
VelocitySmoothing - Re-enable time stretch, integrate dt to get local time.
...
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
2019-09-17 09:27:00 +02:00
a03cc495ce
VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration
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This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
2019-09-17 09:27:00 +02:00
f4b40865af
SmoothVel - Fix altitude lock logic.
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It was broken because _velocity_setpoint is used for input and output
and was assumed to be the input at a place where it was already overwitten
To clarify this, the input setpoint is renamed "target"
2019-08-22 16:43:41 +02:00
d168d5049f
check vel_setpoint instead of stick input for position lock
2019-08-21 10:02:40 +02:00
ea0e164145
FlightTask - Rename state_prev to last_setpoint
2019-07-16 13:09:09 +02:00
37a9b90945
FlightTask - Move checkSetpoints function in each FlightTask to be tailored to the specific needs and avoid checking all the setpoints
2019-07-16 13:09:09 +02:00
24811cf550
FlightTask smoothVel - Initialize ekf reset counters when task is activated
2019-07-16 13:09:09 +02:00
1414f50cea
FlightTask - When switching task, pass the last setpoints of the previous task to the new task
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This is done to allow proper initialization of the new FlightTask and
give it a chance to continue the setpoints without discontinuity. The
function checkSetpoints replaces the setpoints containing NANs with an
estimate of the state. The estimate is usually the current estimate of
the EKF or zero.
The transition FlightTask also provides an estimate of the current
acceleration to properly initialize the next FlightTask after
back-transition. This avoid having to initialize the accelerations to
zero knowing that the actual acceleration is usually far from zero.
2019-07-16 13:09:09 +02:00
b14446f0e5
Parameter update - Rename variables in lib
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using paramter_update.py script
2019-04-03 15:38:50 +02:00
a08b1682e3
[Position|AutoLine]SmoothVel - Update position and velocity states of the trajectories in case of EKF reset. Until now, only the position reset on XY axis was properly handled. Now, xy, vxy, z and vz are handled
2019-03-20 14:35:26 -04:00
aecf8fce58
ManualPositionSmoothVel - Force velocity and acceleration setpoints to zero if the velocity setpoint is smaller than 1mm/s and that the acceleration setpoint is null
2019-03-18 08:33:11 +01:00
1fefa76e5d
ManualSmoothVel - Set jerk to 1.0 during position hold to help the optimizer to converge towards 0 vel and acc
2019-03-18 08:33:11 +01:00
f229444722
ManualSmoothVel - Split position lock condition and flag action
2019-02-25 21:41:04 +01:00
8f584a1496
smooth takeoff - Support smooth takeoff triggered by jerk setpoint
2019-02-25 08:07:33 +01:00
70ddb8049a
Traj Smoothing - make format
2019-02-13 20:56:57 +01:00
4cace1bbe9
Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator
2019-02-13 20:56:57 +01:00
b7c2464cce
Manual vel smooth - Use MPC_JERK_MAX only
2019-02-13 20:56:57 +01:00
f1262cbe84
Manual Traj - Avoid velocity jumps due to a modification of the constraints
2019-02-13 20:56:57 +01:00
57eef6b170
Manual Trajectory - Add Z position lock logic and log complete trajectory
2019-02-13 20:56:57 +01:00
a2d5485c7f
Trajectory manual - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
90cee2d5ea
Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff)
2018-11-06 22:17:00 +01:00
67c0846068
Vel smooth - Improve position lock/unlock detection
2018-11-06 22:17:00 +01:00
d9edcfdc06
Trajectory - format style
2018-11-06 22:17:00 +01:00
6a7ce651bc
Trajectory - Add position lock-unlock logic and proper initialization from controller feedback
2018-11-06 22:17:00 +01:00
84665672ad
Vel smooth - Change jerk scheduling strategy
2018-11-06 22:17:00 +01:00
ab7e4436b3
Vel smooth - Add Z trajectory
2018-11-06 22:17:00 +01:00
787d82c9e6
VelocitySmoothing: simplify the API & fix style
2018-11-06 22:17:00 +01:00
22780efcd0
Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between.
2018-11-06 22:17:00 +01:00
86463e4ec7
Flight Tasks: add new trajectory smoothing flight task & library
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Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
2018-11-06 22:17:00 +01:00
Matthias Grob