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27,330 Commits 852 Branches 161 Tags
a24fdb93c38cdedc91041bdc81238815b9d4b023
Commit Graph

354 Commits

Author SHA1 Message Date
Dennis Mannhart a24fdb93c3 FlightTaskManual: increase rc timeout to 1.5 x COM_RC_LOSS_T 2018-08-30 09:27:48 +02:00
Dennis Mannhart 1f1c9fde01 FlightTaskAuto: lock yaw once within acceptance radius 2018-08-30 09:27:48 +02:00
Dennis Mannhart 8714b216b0 FlightTaskFailsafe: comments and land with land speed if velocity in z is valid but altitude not 2018-08-30 09:27:48 +02:00
Dennis Mannhart 3d250b3b83 FlightTaskAutoLine: don't update yaw if waypoints are too close together 2018-08-30 09:27:48 +02:00
Dennis Mannhart 4d9f96bfbd FlightTaskFailure: will hover if position available, will land if velocity valid and 
will land with 0.3 of hover thurst if position nor velocity is valid
 2018-08-30 09:27:48 +02:00
Daniel Agar acff200f0d FlightTasks safer matrix usage 2018-08-27 16:33:38 -04:00
ChristophTobler 56ea4fa6fa FlightTask StraighLine: check values before dividing 2018-08-12 09:37:05 -04:00
ChristophTobler d3d549b8e6 FlightTask Smoothing: check dt before dividing 2018-08-12 09:37:05 -04:00
Dennis Mannhart 9a23295a40 heading update: do not update heading within NAV_ACC_RAD 2018-08-10 15:52:10 +02:00
Martina 2d9bbeb7ed FlightTaskAuto: use the triplets from navigator and not with the internal 
ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription
 2018-08-09 16:38:47 -04:00
Martina 8096e84133 FlightTask: add padding to empty_trajectory_waypoint definition 2018-08-09 16:38:47 -04:00
Martina 10988f5bf1 FlightTask: add comment for method getAvoidanceWaypoint 2018-08-09 16:38:47 -04:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina ede302290b FlightTasks: add getter method to retrieve empty avoidance waypoint in the 
mc_pos_control
 2018-08-09 16:38:47 -04:00
Martina b856c1048d FlightTask: add methods to get the desired trajectory waypoints 2018-08-09 16:38:47 -04:00
Martina 17a08a9de7 FlightTaskAuto: add update method to get triplets for the trajectory 
interface
 2018-08-09 16:38:47 -04:00
ChristophTobler adfb54243c FlightTasks: fix typo and improve comment 2018-08-08 13:44:49 +02:00
ChristophTobler f6e1ab9034 FlightTasks: cmake - add and remove tasks 
add possibility to add additional tasks or to remove upstream tasks
 2018-08-08 13:44:49 +02:00
ChristophTobler 89cc53755c FlightTasks: set variable for python args 2018-08-08 13:44:49 +02:00
ChristophTobler 4bbde0df8c FlightTasks: move FlightTask to own folder/lib 
fix header includes
add cmake subdirectories dynamically
 2018-08-08 13:44:49 +02:00
ChristophTobler 1b1b3b5484 FlightTasks: Move AutoMapper to own folder and create lib 
AutoLine now depends on AutoMapper
 2018-08-08 13:44:49 +02:00
ChristophTobler 8090708f76 FlightTasks: generate tasks depending on target 
- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
 2018-08-08 13:44:49 +02:00
ChristophTobler 34203f7e8c FlightTasks: add header lib for sport 2018-08-08 13:44:49 +02:00
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
ChristophTobler b68fd5e0a7 Flight Tasks: CMake/folder restructure (no code change) 
put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)
 2018-08-08 13:44:49 +02:00
Dennis Mannhart 4a91074aaa FlightTaskAuto: add comment 2018-08-03 08:24:34 +02:00
Dennis Mannhart a24b614dec FlightTaskAutoLine: generate heading along track if yaw setpoint is not valid 2018-08-03 08:24:34 +02:00
Dennis Mannhart 02feb10865 FlightTaskAuto: triplet yaw-setpoint has priority over MPC_YAW_MODE. 
Add MPC_YAW_MODE option for heading along trajectory, which will be the same as
option 0 (heading towards target) if trajectory is straight line
 2018-08-03 08:24:34 +02:00
Dennis Mannhart 694f49c80a FlightTaskAuto: method for computing heading from 2D vector 2018-08-03 08:24:34 +02:00
Dennis Mannhart 6cd16f345e FlightTaskAuto: set heading based on yaw mode 2018-08-03 08:24:34 +02:00
Dennis Mannhart f0282bcd8f FlightTaskAuto/Line: make params protected and add NAC_ACC_RAD and MPC_YAW_MODE 2018-08-03 08:24:34 +02:00
Dennis Mannhart 7723860f37 remove unused constant 2018-08-02 09:23:17 +02:00
Dennis Mannhart a06ff4a2ce FlightTaskAuto/Mapper/Line: move landing gear to mapper; fix comments 2018-08-02 09:23:17 +02:00
Dennis Mannhart 338ca3104c FlightTaskAutoLine: remove activate method bc uses same impl as FlightTaskAutoMapper 2018-08-02 09:23:17 +02:00
Martina 3fe2646d80 FlightTaskAuto: add comments and fix variable naming convention 2018-08-02 09:23:17 +02:00
Martina e13ca0d990 FlightTaskAuto: fix triplet reset 2018-08-02 09:23:17 +02:00
Martina f379035a3b FlightTaskAuto: move generation of the the internal waypoints to FlightTaskAuto such that they are available to all derived classes. 
Change logic to update the internal triplets only when the navigator triplets have changed or when the vehicle state has changed.
 2018-08-02 09:23:17 +02:00
Martina ade254394e fix parameters subscription 2018-08-02 09:23:17 +02:00
Martina 3f2f399b91 FlightTaskAutoMapper: clean-up and fix comments 2018-08-02 09:23:17 +02:00
Martina d85481be6d Restructure FlightTaskAutoLine: 
-add FlightTaskAutoMapper that handles the different types of waypoint and
generates setpoints for all types except of position and loiter
- FlightTaskAutoLine generates the setpoint types position and loiter if
the flight between waypoint is a straight line
 2018-08-02 09:23:17 +02:00
Daniel Agar 6f204c4913 FlightTask initialize _dist_to_bottom 
- fixes Coverity CID 306248
 2018-08-02 08:06:08 +02:00
Daniel Agar 36fdd3a127 FlightTaskManualPosition initialize all fields 
- fixes Coverity CID 306259
 2018-08-02 08:06:08 +02:00
Daniel Agar a90c7659ad FlightTasks local position setpoint don't use copyRaw 
- fixes Coverity CID 268659
 2018-08-02 08:06:08 +02:00
Dennis Mannhart fc8a05f636 estimataor reset counter: set Flighttaskcounter equal reset-counter during activation (#10035) 
- fixes #10033
 2018-07-28 10:08:58 -04:00
ChristophTobler 9aa6dad514 FlightTask orbit: make format 2018-07-24 15:03:53 +02:00
MaEtUgR e8d2f1c2be FlightTaskOrbit: execute MAVLink orbit command 
Latest QGC daily supports sending an orbit command. This commit applies
the correct radius, rotation direction, velocity and center position.
Still missing is a check to have global position available and applying
x,y coordinates and altitude independently.
 2018-07-24 15:03:53 +02:00
MaEtUgR 7c068e47ab FlightTaskOrbit: fix acceleration limit inverting velocity 
The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
 2018-07-24 15:03:53 +02:00
MaEtUgR 12290c27e6 FlightTask: update global reference 
For the geo.h C library to convert between global and local frame
we need an up to date global reference which is currently inside the
vehicle_local_position message.
 2018-07-24 15:03:53 +02:00
MaEtUgR 7d4fcccf83 FlightTasks: fix switch case style 2018-07-24 15:03:53 +02:00
MaEtUgR e95d795b08 FlightTasks: use member function as check for constistency 2018-07-24 15:03:53 +02:00