Timothy Scott
a134da6e12
Removed is_rotor_wing, replaced with vehicle_type
2019-06-13 10:04:26 +02:00
Daniel Agar
4bef573497
fw_pos_control_l1 move to new uORB::Subscription
2019-06-06 20:00:02 -04:00
Daniel Agar
2c63e335e9
uORB::Subscription subscribe directly to uORB device node object
2019-06-03 17:06:21 -04:00
Daniel Agar
bf12583d80
fw_pos_control_l1 replace FW_LND_THRTC_SC param description < character
...
- fixes #12124
2019-05-30 18:03:03 -04:00
Julian Oes
2ac8841f35
vtol/fw/mc: fix VTOL enum shadowing
...
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.
This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.
This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
2019-05-29 23:51:10 -04:00
Daniel Agar
9bad61b86b
Improve robustness to bad and lost airspeed data ( #11846 )
2019-04-30 03:08:23 -04:00
Roman
2bd8b517c5
FwPositionControl: don't do takeoff help for vtol
...
- takeoff help is used for fixed wings, it increases the altitude setpoint
after a launch. A vtol does not need this as it's already sufficiently
high up in the air.
Signed-off-by: Roman <bapstroman@gmail.com >
2019-04-30 02:45:49 -04:00
Daniel Agar
d36b06f779
fw_pos_control_l1: FW_LND_EARLYCFG disable by default
...
- change to boolean param
2019-04-13 17:35:12 +02:00
bresch
10ba0801d2
Parameter update - Rename variables in modules/fw_pos_control
...
using parameter_update.py script
2019-04-03 15:38:50 +02:00
Daniel Agar
ec3bc4ee5b
fw_pos_control_l1 reset internal takeoff and landing state when arming
2019-04-03 08:48:30 +02:00
Daniel Agar
45d7165eb3
fw_pos_control_l1 skip wind > max airspeed logic if airspeed invalid
...
- cleanup airspeed validity check logic
2019-01-12 14:19:53 +01:00
Daniel Agar
60f2a92e3d
replace <cfloat> with <float.h>
...
- <cfloat> isn't available in the NuttX c++ library
2019-01-06 19:20:57 -05:00
Alvar Martti
63651da309
FW bug in checking if landing point has been passed
...
* the bearing difference between the waypoints and aircraft to landing point should be wrap_pi'ed
2018-12-21 10:03:31 -08:00
Roman Bapst
90bfdb6f0a
VTOL rate control architecture improvements ( #10819 )
...
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
2018-11-21 20:32:40 -05:00
Hamish Willee
44f650fdc9
Add additional info to FW_LND_USETER ( #10777 )
2018-10-30 10:14:52 -04:00
CarlOlsson
82106cc4c1
fw_l1_control: add underscores to perf for consistency
2018-10-22 09:26:06 -04:00
Roman
e17f0802cc
tecs msg: changed flight_path_angle to height rate as clearly we are
...
looking at height rates
Signed-off-by: Roman <bapstroman@gmail.com >
2018-09-17 10:27:08 -04:00
Daniel Agar
a6dabbbae7
Landing slope move to standalone library
...
- this is shared by both the FW position controller and navigator's
missiong feasibility checker
2018-08-31 14:43:51 -04:00
Daniel Agar
5207c420c3
generic position controller status/feedback message
2018-08-31 14:43:51 -04:00
Philipp Oettershagen
c997159e32
Fixed-wing autoland: Introduce parameter to enable/disable the early activation of the landing configuration
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
953cff7ba0
Fixed-wing autoland: Parameter description fixes
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
20c02ae093
Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments.
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
08ceddaddb
Fixed-wing autoland: ALWAYS flare when close to the ground, independently of the horizontal distance to the land WP. This avoids that we crash into the ground at negative pitch and guarantees that the flare always starts at the same altitude above ground. However, the motor shutoff still depends on the horizontal distance to the LAND WP, thus avoiding that the motor is shut off prematurely
2018-08-24 10:13:07 -04:00
Philipp Oettershagen
4c4f585ad5
Fixed-wing autoland: 1) The landing configuration (flaps, different airspeed) is now already set during the loiter down instead of at the start of the landing approach. This is done to avoid any mode changes (which can cause altitude/airspeed jumps) so close to the gorund. 2) A scaling factor for the TECS throttle time constant was added which allows tighter throttle control during the landing (i.e. close to the ground) than high up in the air
2018-08-24 10:13:07 -04:00
Roman Bapst
8b1381ead9
update ecl l1 and usage for new roll angle setpoint slew rate limit ( #10005 )
...
* added ability to slew rate limit the roll angle output of the l1 controller
* FixedWingPositionControl: this avoids the steps in roll angle setpoint which occur when the controller
switches to a new waypoint
* GroundRoverPositionControl: adapted to new l1 API
2018-08-01 14:01:41 -04:00
TSC21
ca42483794
update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files
2018-07-30 21:40:28 +02:00
Daniel Agar
9a4de09325
sensors remove airspeed negative check
2018-07-16 01:09:19 -04:00
Thomas Stastny
8a7919bcb6
fw att+pos ctrl: use enum for flaps configs
2018-07-11 08:08:13 +02:00
Thomas Stastny
0c3399433d
fw att+pos ctrl: add takeoff flaps setting
2018-07-11 08:08:13 +02:00
Daniel Agar
9fa882119d
fw_pos_ctrl_l1 remove unnecessary orb rate limits
2018-07-05 12:16:44 -04:00
Philipp Oettershagen
6579b7254a
Change TECS max sink rate minimum value, because very fragile aircraft might not be able to sustain higher max sink rates
2018-07-01 10:42:27 -04:00
Philipp Oettershagen
a76c4c55d4
Decrease default flare altitude. The previous value was way too high for any small aircraft. It was also unsafe because after the flar, pitch is currently controlled open-loop, which means that stall can potentially happen during the flare
2018-07-01 10:42:27 -04:00
Philipp Oettershagen
8f09a20478
Update TECS integrator gain parameter description to represent the changes in https://github.com/PX4/ecl/commit/ccfba4997147658d8340f7efa351c19299120704
2018-07-01 10:42:27 -04:00
Daniel Agar
cf74166801
double promotion warning fix or ignore per module
2018-07-01 09:36:55 +00:00
Philipp Oettershagen
753ad0e0df
Fixed-wing autoland: Fix bug that could cause a steep pitch increase and thus aircraft stall during the flare ( #9674 )
2018-06-14 11:29:03 -04:00
Daniel Agar
222a91c6be
mathlib delete Matrix, Quaternion, Vector
2018-05-23 17:27:09 -04:00
Daniel Agar
2e92484325
ecl update to latest master with separate libraries ( #9406 )
2018-05-03 23:48:09 -04:00
Daniel Agar
ea3acb7121
cmake remove circular linking and reorganize
...
- px4_add_module now requires MAIN
- px4_add_library doesn't automatically link
2018-04-29 21:48:54 -04:00
Daniel Agar
0e823c82b6
FW landing check if prev valid before using ( #9284 )
2018-04-21 12:03:46 -04:00
Daniel Agar
d75fd72c02
stop manually defining physical constants
2018-04-19 07:24:58 +02:00
Roman
0f1c9504d5
FixedWingPositionControl: rotate attitude consistenly for tailsitters
...
Signed-off-by: Roman <bapstroman@gmail.com >
2018-04-18 16:20:15 +02:00
Daniel Agar
a78ab02144
fw_pos_control_l1 don't store TECS and L1 parameters
2018-04-12 00:46:49 -04:00
Daniel Agar
29b3950747
move geo and geo_lookup to PX4/ecl
2018-03-26 23:16:55 -04:00
Beat Küng
b512d11e54
refactor fw_pos_control_l1: replace BlockParam* with Param* classes
...
Also change naming convention: add _ prefix to class attributes
2018-03-22 08:19:08 +01:00
sanderux
d87b7ac7f4
Fix scale application on FW throttle baro compensation
2018-03-20 00:13:36 +01:00
Daniel Agar
b6b7fddb9f
TECS and L1 switch to matrix math library ( #9101 )
2018-03-19 18:09:54 -04:00
Daniel Agar
7607c71ca8
fw_pos_control_l1 project virtual waypoint to handle landing overshoot
2018-03-14 16:39:19 -04:00
Daniel Agar
d1dca4e74c
fw_pos_ctrl_l1 move takeoff to control_takeoff()
2018-03-14 16:39:19 -04:00
Daniel Agar
c72340e039
fw_pos_ctrl_l1 move landing to control_landing()
2018-03-14 16:39:19 -04:00
Beat Küng
8a5cdac1f4
FixedwingPositionControl: fix ordering of PRINT_MODULE_USAGE_NAME
2018-03-13 17:35:15 +01:00
Timothy Scott