Julian Oes
8ff237c69f
Remove size optimization for individual modules
...
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
Andreas Antener
e1e410783a
tailsitter: correctly use roll/pitch inputs when optimal recovery is enabled
2016-09-13 14:32:00 +02:00
Mark Whitehorn
a054fb1e04
fix altitude setpoint bug ( #5409 )
2016-09-03 12:33:36 +02:00
Andreas Antener
5eaf104318
fixed optimal recovery condition
2016-08-10 22:47:26 +02:00
Andreas Antener
853a5b77fd
disabled attitude setpoint change in MC controller when optimal recovery is active
2016-08-10 22:47:26 +02:00
Andreas Antener
9087ef5990
only recalculate rotation matrix and quaternion when not in velocity control
2016-08-10 22:47:26 +02:00
Andreas Antener
ae533b01b6
removed unused code
2016-08-10 22:47:26 +02:00
Daniel Agar
4049ec2e96
mc_pos_control fix and enforce code style
2016-08-07 10:40:17 +02:00
Lorenz Meier
c76c8fda04
MC pos control: Drop default position controller gain
2016-08-06 11:50:08 +02:00
Lorenz Meier
a38263b8e7
Enforce enough braking power when users set higher horizontal speeds
2016-07-31 17:43:15 +02:00
tumbili
998579befc
mc pos control: zero yaw setpoint move rate in attitude setpoint topic
...
- fixed bug where a non-zero yaw setpoint move rate could make the drone
yaw around in non-manual modes
Signed-off-by: tumbili <roman@px4.io >
2016-06-30 16:42:51 +02:00
Andreas Antener
5dcc62d8f9
allow yaw setpoint offset to be reduced once maxed out
2016-06-30 14:30:59 +02:00
Andreas Daniel Antener
705a08bbbd
do not modify attitude setpoint in velocity controlled mode ( #4905 )
2016-06-25 10:59:50 +02:00
Julian Oes
d9d5d9d9e4
mc_pos_control: run the loop without position data
...
By running the loop in mc_pos_control without successfully polling on
position data, we still copy the manual input over so that
mc_att_control can consume it. This allows to fly in manual mode without
GPS and no position estimate.
2016-06-15 13:34:27 +01:00
Lorenz Meier
1e9fae8301
MC pos control: Be more efficient
2016-05-29 16:27:14 +02:00
Roman Bapst
02ba3317e9
WIP: Manual attitude setpoint for large heading errors ( #4564 )
...
* mc pos control: in manual mode calculate attitude setpoint
such that it reflects the users intuition of roll and pitch
for any given heading error
* added some comments on the new manual attitude setpoint generation
* make calculation shorter
2016-05-19 15:28:04 +02:00
Jimmy Johnson
59296e0a49
adding user parameters, simplifying dynamic gps filter, adding yaw smoothing
2016-05-16 15:12:50 -07:00
Jimmy Johnson
38b4278998
minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error
2016-05-16 15:11:57 -07:00
Lorenz Meier
623ef6d67c
MC pos control: Use default initializers
2016-05-13 10:34:47 +02:00
Daniel Agar
331456f831
mc_pos_control_params.c param metadata
2016-05-11 12:29:54 -04:00
Lorenz Meier
c31c29097d
Rename params, add transitional support
2016-05-10 09:27:00 +02:00
Adyasha Dash
468b0b25de
added different parameters for ascent and descent rates
2016-05-10 09:18:40 +02:00
Lorenz Meier
45a5f2aaa4
MC vel control: Better defaults, better min and max gains
2016-05-04 22:49:36 +02:00
Lorenz Meier
9b1e4c42de
Multicopter: Clarify speed params
2016-05-01 18:28:01 +02:00
Lorenz Meier
388d29baec
MC pos control: Show normalized units properly
2016-04-25 09:35:58 +02:00
Benoit Landry
95faba391a
accel control in pos controller
2016-04-22 10:31:52 +02:00
James Goppert
0f0f354acd
Added warning for MPC_ALT_MODE.
2016-04-15 11:02:32 -04:00
James Goppert
f905276958
Added mpc_alt_mode.
2016-04-14 17:52:28 -04:00
James Goppert
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
Julian Oes
1f44fb1efd
commander: internalize system status bools
...
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
Lorenz Meier
dd0d1f001e
MPC velocity controller: Reduce gain to stabilize control loop
2016-04-08 21:25:55 -07:00
Lorenz Meier
737ad045b2
Fix up formatting in mc pos control
2016-03-27 12:10:57 +02:00
Jimmy Johnson
6ff1b2d896
Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid
...
booleans in setpoint struct
2016-03-27 12:10:57 +02:00
Jimmy Johnson
3aaad68c76
fixed position tracking overshoot
2016-03-27 12:10:57 +02:00
Jimmy Johnson
dfc2d9b5e0
more clean up
2016-03-27 12:10:57 +02:00
Jimmy Johnson
8829db8844
code clean up complete
2016-03-27 12:10:57 +02:00
Jimmy Johnson
01e971b342
Tests
2016-03-27 12:10:57 +02:00
Jimmy Johnson
0797c7fc21
velocity smoothing
2016-03-27 12:10:57 +02:00
Lorenz Meier
c385d5e32b
Adjust multicopter position control default params
2016-03-25 14:22:49 +01:00
Julian Oes
bba0d0384d
drivers/modules: changes after mavlink_log change
...
The mavlink_log API changes lead to changes in all drivers/modules using
it.
2016-03-24 13:10:02 +01:00
Daniel Agar
7a9427bc34
param remove empty @unit
2016-03-14 09:12:34 +01:00
Daniel Agar
c654b20584
param @unit remove % usage
2016-03-14 09:12:34 +01:00
Daniel Agar
f930f3e557
mc_pos_control param @unit
2016-03-14 09:10:29 +01:00
Lorenz Meier
c97dca0cdb
MC pos control: Differentiate between cruise and max velocity
2016-03-13 18:09:52 +01:00
Lorenz Meier
f73148e98d
mc pos control: Support do change speed
2016-03-13 18:08:25 +01:00
Roman
a62046625b
mc_pos_control: only reset position setpoint if we are not in rotary wing mode
2016-03-07 21:14:41 +01:00
tumbili
2d2b0a2d43
mc pos: in auto mode reset the position to current position. Velocity controller ensures continuous attitude setpoint
2016-03-04 08:45:13 +01:00
tumbili
9297a02ac2
move code which clears the pos and alt hold flags to the correct place.
...
this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.
2016-03-04 08:45:13 +01:00
tumbili
989a4a0984
mc pos control:
...
-when switching into vel control mode (xy) choose vel sp such that attitude
setpoint is continuous
2016-03-04 08:45:13 +01:00
Lorenz Meier
7adaccfe67
Higher default gains for multicopter position control
2016-02-29 15:17:12 +01:00
Julian Oes