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Author SHA1 Message Date
Dennis Mannhart 25c33d18b0 FlightTaskSport: just scale velocity septoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart fc62df856d ControlMath: reference to by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart 16d6ac6ad1 FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly 2018-04-05 07:30:12 +02:00
Dennis Mannhart 7f406aa251 FlightTaskManualSmoothingZ: remove empty space 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6538a7e88c FlightTaskSport: replace rotation by axis angle 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5bd2afa7be FlightTaskManualPositionSmooth: remove unused mehthods and member variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart d6fe2159ae FlightTaskManualPosition: remove update method and old member variable setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart a7f4859698 FlightTaskManualAltitudeSmooth: remove unused member methods/variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart c15b114cad FlightTaskManualAltitude: remove member setpoints and update method 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4b49b0ed7a FlightTaskManualStabilized: update method that sets all member setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart 2db2ef824b FlightTaskManual: move all setpoints into base class 2018-04-05 07:30:12 +02:00
Dennis Mannhart 2e9cb659c9 FlightTaskManual: method to reset all members setpoints to NAN 2018-04-05 07:30:12 +02:00
Dennis Mannhart 52eeb02549 empty setpoint add NAN for thrust, add comment 2018-04-05 07:30:12 +02:00
Dennis Mannhart fb2ce062e4 FlightTask: rebse fix for empty setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart f2f5f41641 FlightTaskManualSmoothing: change name of method 2018-04-05 07:30:12 +02:00
Dennis Mannhart 01073d36e5 FlightTaskManualPosition: use axis angle to rotate into world frame 2018-04-05 07:30:12 +02:00
Dennis Mannhart ca046af8ca clang-tidy: don't check for pass-by-value optimization 2018-04-05 07:30:12 +02:00
Dennis Mannhart d64b59b95f FlightTaskUtility: remove duplicate slewrate 2018-04-05 07:30:12 +02:00
Dennis Mannhart c1bb0cbdcc smoothing xy: remove unused variable 2018-04-05 07:30:12 +02:00
Dennis Mannhart 23b294b434 tests smoothz: fix fabsf and consider rest once previous velocity is zero 2018-04-05 07:30:12 +02:00
Dennis Mannhart 59f3de192f ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped 2018-04-05 07:30:12 +02:00
Dennis Mannhart 13eb79ffb8 FlightTasks: fix class name 2018-04-05 07:30:12 +02:00
Dennis Mannhart bb00f6d737 FlightTaskManualPosition: update to new smoothing interface 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4f17fb1303 ManualSmoothingXY: detect alignement based on body frame; do direction change only if not yawspeed is demanded 2018-04-05 07:30:12 +02:00
Dennis Mannhart 40d77d2234 FlightTaskManualStabilized: remove second ; 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5cfd93040f ManualSmoothZ: move vel_sp_previous update into class 2018-04-05 07:30:12 +02:00
Dennis Mannhart ed62056b7c FlightTaskManualPositionSmooth: smooth xy and z 2018-04-05 07:30:12 +02:00
Dennis Mannhart ac6ed74063 Add FlightTaskManualPositionSmooth 2018-04-05 07:30:12 +02:00
Dennis Mannhart 26889bc0e1 ManualSmoothing in xy 2018-04-05 07:30:12 +02:00
Dennis Mannhart 1ddcc7a3ee FlightTaskManaulAltitude: fix activation 2018-04-05 07:30:12 +02:00
Dennis Mannhart 0ec312ef3d FlightTaskManualAltitude: fix update 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6a639373ae PositionControl: set vel_dot to 0 if thrust setpoint is used 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5ad37cec71 FlightTaskManualAltitudeSmooth: update vel sp z 2018-04-05 07:30:12 +02:00
Dennis Mannhart 153b012df6 FlighTaskManual lock condition: rename boolean 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5d06464340 FlightTaskManualPosition: rename updateXYsetpoints to updateXYlock 2018-04-05 07:30:12 +02:00
Dennis Mannhart efc2721add FlightTaskManualAltitude: rename method from updateZsetpoints to updateAltitudeLock 2018-04-05 07:30:12 +02:00
Dennis Mannhart 1810ae8226 ManualSmoothingZ: remove description in cpp file 2018-04-05 07:30:12 +02:00
Dennis Mannhart 39c77546d3 FlightTaskManualAltitudeSmooth: create taks 2018-04-05 07:30:12 +02:00
Dennis Mannhart d44c406fb2 ManualSmoothingZ: unittests 2018-04-05 07:30:12 +02:00
Dennis Mannhart 54a5e177f3 ManualSmoothingZ: comments cleanup and style fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart 08dfd0c495 ManualSmoothingZ: better getMaxAcceleration handling 2018-04-05 07:30:12 +02:00
Dennis Mannhart 0b551c1ede ManualSmoothingZ: style fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5343e49d1e CmakeLists Task: add ManualSmoothingZ 2018-04-05 07:30:12 +02:00
Dennis Mannhart c4fbde395b ManualSmoothing: new class for smoothing setpoints generated from sticks 2018-04-05 07:30:12 +02:00
Dennis Mannhart 3d591f4f8c FlightTaskManualAltitude: thrust along xy depends on thrust along z direction 2018-04-05 07:30:12 +02:00
Dennis Mannhart 157814b710 FlightTaskManualAltitude/Position/Stabilized: activate with 0 velocity and hover thrust 2018-04-05 07:30:12 +02:00
Dennis Mannhart 8bafdba4f9 FlightTaskManualStabilized: update comments 2018-04-05 07:30:12 +02:00
Dennis Mannhart 85a263c7bd vehicle local position setpoint: use array for thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart a74c1116ee mc_pos_control/PositionControl: enable thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart 0ca823eb30 PositionControl: remove thrust as state; add thrust setpoint support 2018-04-05 07:30:12 +02:00
Dennis Mannhart d7c48ea5f2 FlightTaskManualAltitude/Position: set thrust setpoint to NAN (only temporary) 2018-04-05 07:30:12 +02:00
Dennis Mannhart 716eea31cf FlightTaskManualStabalized: compute thrust setpoint from sticks 2018-04-05 07:30:12 +02:00
Dennis Mannhart 76ad00497b FlightTasks and local setpoint: add thrust setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart 44e4c12eb5 FlightTaskManualAltitude: Comments update 2018-04-05 07:30:12 +02:00
Dennis Mannhart ad2c16c0ba FlightTaskManual: remove #include px4_defines.h 2018-04-05 07:30:12 +02:00
Dennis Mannhart 25ff03445e FlightTasks: remove description from cpp files 2018-04-05 07:30:12 +02:00
Dennis Mannhart 3b4870b2c2 FlightTaskManual: define as abstract class 2018-04-05 07:30:12 +02:00
Dennis Mannhart 46f0a14c28 FlightTaskStabilized: remove yaw prediction 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5a6ca148ad CMakeListsts FlightTasks: add stabilized 2018-04-05 07:30:12 +02:00
Dennis Mannhart dcdf4d50a0 FlightTasks: add stabilized and fix switchTask for Altitude and Position 2018-04-05 07:30:12 +02:00
Dennis Mannhart 39731277ad FlightTaskSport: inherit from FlightTaskPosition; only change stickscaling 2018-04-05 07:30:12 +02:00
Dennis Mannhart 72624e14cb FlightTaskManualPosition: make position lock simpler; add underline for protected/private 
methods
 2018-04-05 07:30:12 +02:00
Dennis Mannhart 24b5d30a0a FlightTaskManualAltitude: remove everything related to yaw, which is now 
handled by FlightTaskManualStabilized. Make altitude lock more simple
 2018-04-05 07:30:12 +02:00
Dennis Mannhart e763642a8b FlightTaskManualStabilized: this task will geerate thrust and yaw setpoints. 
Thrust is not yet supported
 2018-04-05 07:30:12 +02:00
Dennis Mannhart 4b856717b7 FlightTaskManual: replace hold_dz with stick_dz 2018-04-05 07:30:12 +02:00
Dennis Mannhart a9ac94dd83 Add FlightTasksManual/Altitude to position controller 2018-04-05 07:30:12 +02:00
Dennis Mannhart 98e4afaf6e FlightTaskSport: temporary inherit from FlightTaskManualPosition 2018-04-05 07:30:12 +02:00
Dennis Mannhart 3b0373afda FlightTaskManual: remove unused methods 2018-04-05 07:30:12 +02:00
Dennis Mannhart 7a4796a6e3 rename TranslationControl to PositionControl 2018-04-05 07:30:12 +02:00
Dennis Mannhart b4d56ed51a mc_pos_control: publish yaw_move_rate 2018-04-05 07:30:12 +02:00
Dennis Mannhart 1cad36efb9 ControlMath: use sign for direction 2018-04-05 07:30:12 +02:00
Dennis Mannhart b0b72e63e7 TranslationControl: remove throttle 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6a4e3bb94e TranslationControl: update comments 2018-04-05 07:30:12 +02:00
Dennis Mannhart 720271332d FlightTaskManual/Alt/Position: update comments 2018-04-05 07:30:12 +02:00
Dennis Mannhart 55b6f19367 FlightTaskManual: remove stick_deadzone because base class already has it. 
Remove deadzone check for vel in xy/z because expo already contains deadzone
 2018-04-05 07:30:12 +02:00
Dennis Mannhart 8da2ff4d77 mc_pos_control: set local position setpoint message for idle; for logging purpose, 
always send local position setpoint when in air
 2018-04-05 07:30:12 +02:00
Dennis Mannhart e6f04ad34a FlightTaskManualPosition: fix position lock 2018-04-05 07:30:12 +02:00
Dennis Mannhart 46c7b1c26c FlightTaskManualAltitude: fix position lock; use default constructor for initialization 2018-04-05 07:30:12 +02:00
Dennis Mannhart ac4379d13f TranslationControl: initialize with default constructor 2018-04-05 07:30:12 +02:00
Dennis Mannhart e1ab31a5fc TranslationControl: replace matrix::Vector3f with Data 2018-04-05 07:30:12 +02:00
Dennis Mannhart f1b3010c70 FlightTaskManualAlt/Pos: add deadzone fox xy/z 2018-04-05 07:30:12 +02:00
Dennis Mannhart ec4089cebf FlightTaskManualAltitude: add deadzone for yaw 2018-04-05 07:30:12 +02:00
Dennis Mannhart cd1e01d5a0 FlightTaskManual: add px4_defines 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6276d0a8ef FlightTasks CMakeLists: add FlightTaskManualPosition 2018-04-05 07:30:12 +02:00
Dennis Mannhart 26a5eae7b1 FlightTasks: add FlighttaskManualPosition 2018-04-05 07:30:12 +02:00
Dennis Mannhart ddecb4d3a4 teest_controlmath: incomplete set of thrust to attitude tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart 0afd0807bb FlightTaskPosition: brake depends on acceleration 2018-04-05 07:30:12 +02:00
Dennis Mannhart bcbd3dc527 ControlMath: thrust to attitude method (legacy method) 2018-04-05 07:30:12 +02:00
Dennis Mannhart adcb2b9ca8 TranslationControl: index fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart 840247251d ControlMath: sign fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart deac27ee52 FlightTaskManualAltitude: brake depends on acceleration; description clean up 2018-04-05 07:30:12 +02:00
Dennis Mannhart 09bf73945a ControlMath: rename namespace to file name 2018-04-05 07:30:12 +02:00
Dennis Mannhart 10a50dd97e FlightTaskManual: switch to camel case 2018-04-05 07:30:12 +02:00
Dennis Mannhart 3b8c718971 TranslationControl: rename variable 2018-04-05 07:30:12 +02:00
Dennis Mannhart 2a544cee43 TranslationControl: use reference insteady of by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart ded8675dae ControlMath: change description name 2018-04-05 07:30:12 +02:00
Dennis Mannhart 5fbee9fce9 ControlMath tests 2018-04-05 07:30:12 +02:00
Dennis Mannhart 03c81a8948 ControlMath: never saturate in xy when vector is below minimum 2018-04-05 07:30:12 +02:00
Dennis Mannhart 6daf78494a TranslationControl: adjust direction based on constrainPIDu inputs 2018-04-05 07:30:12 +02:00
Dennis Mannhart 75b6af77de ControlMath: fix index and don't adjust sign with method but rather function caller 
needs to adjust for sign
 2018-04-05 07:30:12 +02:00