Beat Küng
a0372c6183
vmount: implement VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
2018-03-19 09:42:41 +01:00
Beat Küng
aaa67632ca
navigator: remove redundant switch block for ROI handling
2018-03-19 09:42:41 +01:00
Beat Küng
89a775b401
navigator: remove use of final to allow extending class hierarchy
2018-03-13 17:35:15 +01:00
Beat Küng
e0af2912a1
navigator: avoid use of a static variable last_geofence_check
2018-03-13 17:35:15 +01:00
Beat Küng
320bdc6482
navigator: refactor to use ModuleBase class
2018-03-13 17:35:15 +01:00
Beat Küng
246be4f0ab
precland: use 'default' for destructor
2018-03-13 17:35:15 +01:00
Beat Küng
2e6904b8a4
navigator: use '#pragma once' as include guard
2018-03-13 17:35:15 +01:00
Beat Küng
f2dddc65a5
navigator: use new Param class
2018-03-13 17:35:15 +01:00
Beat Küng
0a5af01454
NavigatorMode: inherit from Block instead of SuperBlock
2018-03-13 17:35:15 +01:00
acfloria
fd0be3c412
Remove MavLink dependency in navigator
2018-03-09 21:16:28 +01:00
Julian Oes
9c6b1a0f04
navigator: fix incorrect takeoff altitude
...
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.
The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.
The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.
This hotfix should however be lower risk.
2018-03-07 08:48:44 +01:00
Sander Smeets
2ef9c4ec35
VTOL force land even when transitioning to FW ( #8958 )
2018-03-01 16:51:50 -05:00
Vasily Evseenko
135162522a
Don't use ADSB messages with undefined fields in navigator ( #8900 )
...
Don't use ADSB messages with undefined fields in navigator
2018-02-18 11:08:40 +01:00
Julian Oes
cc36c8ee37
mission: warn at 2/3 of the max distance
...
This was wrong, instead of warning at 2/3 of the max distance as
mentioned in the comment, we would start to warn at 3/2 of the distance
which would then never actually happen.
2018-02-12 17:36:54 -05:00
Daniel Agar
6355eedd7a
move NAV_RC_LT into Mission group
2018-02-10 20:37:47 -05:00
Nicolas de Palezieux
bc3577bd60
mission_block: do relative alt correction for correct nav_cmd
2018-01-25 15:27:55 +01:00
DonLakeFlyer
342509b3ab
New ROI commands implementation
2018-01-25 15:27:55 +01:00
Lorenz Meier
d8164377a8
Navigator: Move mission param into mission params
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This is important for the compile scope.
2018-01-22 15:56:42 +01:00
Nicolas de Palezieux
7ae3884944
heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs
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ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
2018-01-22 15:56:42 +01:00
Nicolas de Palezieux
bedaafcc20
NAV_CMD_DO_SET_ROI: handle relative altitude in mission ROI commands
2018-01-22 15:56:42 +01:00
TSC21
821eb5ac87
navigator: precland_params: PLD_MAX_SRCH: fix min value from float to int
2018-01-17 17:52:24 -05:00
Nicolas de Palezieux
aa4c6c038d
navigator : add support for precision landing
2018-01-15 10:27:23 +01:00
Daniel Agar
b524c8a20f
navigator silence geofence update PX4_INFO
2018-01-14 12:53:53 +01:00
Daniel Agar
f49c061a3c
navigator fix mission_result increment and sign mismatch
2018-01-14 12:53:53 +01:00
Daniel Agar
916d6a15fd
Mission merge offboard + onboard and simplify
2018-01-14 12:53:53 +01:00
Daniel Agar
956935141e
Navigator simplify mission
2018-01-14 12:53:53 +01:00
Daniel Agar
25c7a03a8b
Navigator remove unnecessary calls to updateParams
...
- the SuperBlock already does this
2018-01-14 12:53:53 +01:00
Daniel Agar
545f8c4452
RTL optionally use planned mission landing ( #8487 )
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- adds new RTL_LAND_TYPE parameter
2018-01-04 23:42:01 -05:00
Daniel Agar
f87402b16c
navigator remove redundant param updates
2018-01-04 09:21:17 +01:00
Dennis Mannhart
a649bbebb7
commander: switch to hold or mission once takeoff is finished ( #8020 )
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* add COM_TAKEOFF_ACT to optionally switch to mission after takeoff
2017-12-31 13:58:20 -05:00
Daniel Agar
7dab5d4380
mission feasibility full home position isn't always needed
2017-12-21 15:28:45 +08:00
Daniel Agar
58d1cdc733
Allow MAV_CMD_DO_SET_HOME as a mission command
2017-12-20 10:19:07 +01:00
Daniel Agar
6172315cf7
navigator mission_result fix increment sign
2017-12-20 17:05:25 +08:00
Daniel Agar
e8624f8afe
navigator takeoff alt check use altitude acceptance ( #8480 )
2017-12-17 01:39:53 -05:00
lamping7
63718bf27b
fix MISSION_ITEM REACHED message broadcast ( #8332 )
2017-12-10 02:30:58 -05:00
Paul Riseborough
49d82164c6
navigator: check home position horizontal and vertical validity
2017-12-07 08:20:16 +00:00
Nicolas de Palezieux
a6ae1fbcaa
vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically ( #8377 )
2017-11-27 15:43:39 -05:00
Daniel Agar
246c47e0db
RTL land use mavlink critical and log when starting landing
2017-11-26 14:40:13 -05:00
Daniel Agar
8567e3b924
RTL fix RTL_LAND_DELAY check and simplify logic
2017-11-26 14:40:13 -05:00
Daniel Agar
84f07c64b0
Navigator RTL fully initialize mission item in each state
2017-11-14 14:57:34 -05:00
Daniel Agar
98cbd44526
RTL check alt_max before using
...
- fixes #8257
2017-11-14 14:57:34 -05:00
Dennis Mannhart
05c00855c4
navigator: reset triplets if navigation mode changes ( #8285 )
2017-11-14 11:32:21 -05:00
Beat Küng
c2c8ed6f5c
navigator: make FollowTarget::_follow_position_matricies constexpr ( #8281 )
...
The matrix is never changed and has a size of 144 bytes.
2017-11-13 12:30:33 -05:00
Lorenz Meier
4028692bfe
Navigator: Limit string copy to length of target array
2017-11-13 09:59:54 +01:00
Beat Küng
29af2343e1
fix NAV_TRAFF_AVOID param definition: needs a ;
...
Without that the parameter was not in parameters.xml, producing the error:
ERROR [lib__controllib] error finding param: NAV_TRAFF_AVOID
2017-10-31 11:18:49 +01:00
Lorenz Meier
a1a002f9b6
Navigator: Add the ability to do a low-altitude RTL to avoid traffic
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This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
2017-10-31 09:10:32 +01:00
Julian Oes
6d8d6323cb
navigator: bring follow me back to life
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The function `mission_item_to_position_setpoint()` is called in
`FollowTarget::update_position_sp()`. The nav_cmd is a
NAV_CMD_DO_FOLLOW_REPOSITION as set earlier in `set_follow_target_item`.
Since `mission_item_to_position_setpointi` returns early because the item
presumably contains no position, the lat/lon of the mission_item are
not copied over to the position_setpoint and therefore the vehicle will
never move in follow me position mode.
2017-10-29 12:58:00 +01:00
Julian Oes
10de946cdf
navigator: remove leftover debug variable
2017-10-29 12:58:00 +01:00
Daniel Agar
4416c4ddb3
navigator move parameters out of MissionBlock
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- MissionBlock is an interface with > 10 implementations
2017-10-26 22:43:53 +02:00
Finwood
ba11e0dc44
use tabs for indentation
2017-10-22 22:05:56 +02:00
Beat Küng