a5e8eb23ad
PositionControl: saturate thrust integral
2018-07-20 09:26:18 +02:00
5ffcb6af01
PositionControl: set vel_dot to 0 if NAN
2018-07-20 09:26:18 +02:00
7b13803e2c
PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust
2018-07-20 09:26:18 +02:00
f30bf215db
MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled
2018-07-20 09:26:18 +02:00
e8620708b3
PositionControl: set states to zero if not valid
2018-07-20 09:26:18 +02:00
e6f6e2085c
ControlMath: remove false comment
2018-07-20 09:26:18 +02:00
9c7c60ddc8
remove mc_pos_control_tests
2018-07-20 09:26:18 +02:00
89c266e699
by value to reference
2018-07-20 09:26:18 +02:00
9c2ec3c229
PositionControl: add control states structure
2018-07-20 09:26:18 +02:00
bf15e852ff
style-check
2018-07-20 09:26:18 +02:00
90a7d836fc
ControlMath:: add legacy cross_sphere_line method
2018-07-20 09:26:18 +02:00
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
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
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
8a3c7f9e41
PositionControl: style check
2018-07-20 09:26:18 +02:00
2519d97aa2
PositionControl: add failsafe
2018-07-20 09:26:18 +02:00
45810ec2b4
PositionControl: replace constraint structure with new constraint message structure
2018-07-20 09:26:18 +02:00
24e6e4041f
PositionControl: format clean up
2018-07-20 09:26:18 +02:00
89c0259b2a
PositionControl: replace overwrite with ModuleParams updateParams method
2018-07-20 09:26:18 +02:00
4c1fcca294
PositionControl.cpp: replace all params with ModuleParams type. Add method that overwrites
...
parameter values
2018-07-20 09:26:18 +02:00
7dbc368779
PositionControl.hpp: inherit from ModuleParams and replace params with ModuleParams type
2018-07-20 09:26:18 +02:00
6cfb89a8e8
test_controlmath rebase fix: EPS to FLT_EPSILON
2018-07-20 09:26:18 +02:00
caa773008a
PositionControl: degrees to radians
2018-07-20 09:26:18 +02:00
4761f0a344
PositionControl: bug fix Pv replacement with Pp
2018-07-20 09:26:18 +02:00
83f6398e93
ControlMath: comments refactor
2018-07-20 09:26:18 +02:00
c01fab089a
PositionControl parameter renaming. Use the the name as stored in the metadata
2018-07-20 09:26:18 +02:00
cf59c2a2ac
PositionControl/mc_pos_control: update comments
2018-07-20 09:26:18 +02:00
673945f28b
PositionControl: check if constraints are below global maximum
2018-07-20 09:26:18 +02:00
60a9b45c88
Positioncontrol: limit velocity upwards during smooth takeoff
2018-07-20 09:26:18 +02:00
0f4eb8e766
PositionControl: add integral reset methods
2018-07-20 09:26:18 +02:00
65a9cd171f
PositionControl: variable replacement
2018-07-20 09:26:18 +02:00
e2ac12ef2c
FlightTask: comment fixes
2018-07-20 09:26:18 +02:00
c6b5731086
test_controlmath: add first few tests for constrain function in xy
2018-07-20 09:26:18 +02:00
c60481614e
ControlMath constrainxy: fix one of the condition
2018-07-20 09:26:18 +02:00
386b70dc58
ControlMath: add derivation and simplify computation
2018-07-20 09:26:18 +02:00
10bd3a50ba
PositionControl: parameter subscription declaration
2018-07-20 09:26:18 +02:00
7f68417d19
PositionControl: make distinction for throttle minimum depending on mode
2018-07-20 09:26:18 +02:00
26ca17e329
comment fix
2018-07-20 09:26:18 +02:00
3ae07843e9
position control: remove empty space
2018-07-20 09:26:18 +02:00
9ff4d13c2c
mc_pos_control: remove unused method
2018-07-20 09:26:18 +02:00
75fb1b28b9
mc_pos_control: set thrust to zero if in idle
2018-07-20 09:26:18 +02:00
1fb8eaf6c6
mavlink_messages: add yawspeed to local position setpoint sent over mavlink
2018-07-20 09:26:18 +02:00
816f2d12d5
FlightTaskAuto minor clean up
2018-07-20 09:26:18 +02:00
ae0f02f67d
ControlMath: by value to reference
2018-07-20 09:26:18 +02:00
3c40aa0d9c
PositionControl: if valid velocity and position setpoint available, always prioritize
...
velocity setpoint generated from position error over velocity feedforward
2018-07-20 09:26:18 +02:00
558a0f892c
PositionControl: auto takeoff with constant speed
...
PositionControl: remove takeoff logic
mc_pos_control: takeoff logic for flighttask
mc_pos_control: smooth takeoff throttle start at 0
2018-07-20 09:26:18 +02:00
6e62beb560
FlightTaskAuto: abstract class for mapping triplets to quadruple
...
FlightTaskAuto: add type that corresponds to triplet type
FligthTaskAuto: set all setpoints if invalid in xy
FlightTaskAuto: cast triplet type to WaypointType
FlightTaskAutoLine: class for px4 legacy auto
FlightTaskAutoLine: methods prototype
FlightTaskAuto: change sp to wp (=Waypoint)
add params
FlightTaskAutoLine: follow waypoints along line based on flight state
2018-07-20 09:26:18 +02:00
24413c6192
mavlink_messages: rename MavlinkStreamTrajectory -> MavlinkStreamTrajectoryRepresentationWaypoints
2018-07-18 05:12:39 -04:00
c9d27b65ef
mavlink_main: stream trajetcory_presententation_waypoints instead of trajectory
2018-07-18 05:12:39 -04:00
02d360c33a
update trajectory message to trajectory_representation_waypoint as in mavlink
2018-07-18 05:12:39 -04:00
Dennis Mannhart