Dennis Mannhart
a5e8eb23ad
PositionControl: saturate thrust integral
2018-07-20 09:26:18 +02:00
Dennis Mannhart
5ffcb6af01
PositionControl: set vel_dot to 0 if NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
Dennis Mannhart
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
...
distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
Dennis Mannhart
80775d588b
vehicle constraints: minimum distance to ground. currently used when distance sensor
...
is available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
Dennis Mannhart
7b13803e2c
PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust
2018-07-20 09:26:18 +02:00
Dennis Mannhart
f30bf215db
MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
Dennis Mannhart
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e8620708b3
PositionControl: set states to zero if not valid
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e6f6e2085c
ControlMath: remove false comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
414f38b677
test_controlmath: work around for internal compiler error: in trunc_int_for_mode, at explow.c:55
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c56ae130a7
test_controlmath remove static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9c7c60ddc8
remove mc_pos_control_tests
2018-07-20 09:26:18 +02:00
Dennis Mannhart
89c266e699
by value to reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
68dd2d739a
ManualSmoothingXY indent
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1317844a94
ManualSmoothingXY fix comments and style
2018-07-20 09:26:18 +02:00
Dennis Mannhart
250afd49a9
ManualSmoothingZ: update comments
2018-07-20 09:26:18 +02:00
Dennis Mannhart
216279b576
FlightTask: activate tasks with setpoints in use
2018-07-20 09:26:18 +02:00
Dennis Mannhart
389f897b04
mc_pos_control: member initialization during deceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
46f91154a4
Smoothing: initialize ModuleParam in body of constructor because of compiler error
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9c2ec3c229
PositionControl: add control states structure
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bf15e852ff
style-check
2018-07-20 09:26:18 +02:00
Dennis Mannhart
cfe7d64a42
cmake/configs: remove module test for mc_pos_control
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c6055c979a
systemcmds/tests: add test_controlmath
2018-07-20 09:26:18 +02:00
Dennis Mannhart
90a7d836fc
ControlMath:: add legacy cross_sphere_line method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c2343589d8
move cross_sphere_line_test method into test_controlmath.cpp
...
remove mc_pos_control_tests since empty
move test_controlmath.cpp into systemcmds/tests directory
2018-07-20 09:26:18 +02:00
Dennis Mannhart
09b7d0f659
the static keywork is a workaround for an internal bug of GCC
...
"internal compiler error: in trunc_int_for_mode, at explow.c:55"
2018-07-20 09:26:18 +02:00
Dennis Mannhart
742e9f7b15
FlightTaskManualStabilzied: check for absolute yaw
2018-07-20 09:26:18 +02:00
Dennis Mannhart
cfa412b55f
make format
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afbeafebd8
replace heading_reset_counter
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9ec47f2b74
replace reset counter logic for estimator reset for manual controlled mode
2018-07-20 09:26:18 +02:00
MaEtUgR
70802ba15a
FlightTaskManual: Yaw lock with deadzone and expo
...
More than a year ago I started the easy to use math::Functions to handle
the always used mathematical SISO functions to be tested and available.
I switched x, y and z stick input to the freesh programmed deadzone and
exponential functions from the library to unify and clarify their use.
I just realized yaw was left over because it lead to a drift problem in
certain new use cases.
Now I'm just adding the yaw stick to the already well working method.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
8a3c7f9e41
PositionControl: style check
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2519d97aa2
PositionControl: add failsafe
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2017e394b3
speed limitation during auto-takoff: remove from legacy and add to FlightTask
2018-07-20 09:26:18 +02:00
Dennis Mannhart
dcdbdbd8eb
FlightTaskAuto: need to remove check for yaw valid since there is a
...
bug in the navigator where this flag is not correctly set.
2018-07-20 09:26:18 +02:00
