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40,309 Commits 852 Branches 161 Tags
a7683eea07619d1be8bdcd154754507adbbb9880
Commit Graph
1278 Commits
Author SHA1 Message Date
RomanBapst a7683eea07 mission_block: fix vehicle not exiting loiter after reaching exit heading 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-19 13:32:18 +02:00
Thomas Stastny d5a6174e7f mission block: fix incorrectly calculated ccw loiter exit (#19487) 
* mission block: fix incorrectly calculated ccw loiter exit

* mission block: update comment on orbit exit location
 2022-04-19 13:30:11 +02:00
RomanBapst 36e32ecd7b navigator: stop handling speed changes via reposition triplet 
- the mc and fw controllers are handling the speed changes directly

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-04-13 12:23:27 +03:00
Silvan Fuhrer c7023e5879 Increase NAV_LOITER_RAD and RTL_LOITER_RAD to 80m each 
For many VTOLs/fixed-wing drones a 50m loiter radius is too tight, and
going to 80m is a better and safer default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-09 14:31:17 -04:00
Alessandro Simovic 47b08fd698 precland: save flash space 2022-04-04 17:26:52 +02:00
Hovergames 457130fb69 Support for NXP UWB position sensor 
uwb_sr150 driver for the sensor, and some
modifications in precision landing to allow
landing on a platform using the UWB system.
 2022-04-04 17:26:52 +02:00
RomanBapst 60231bbcb6 navigator: don't reset cruise speed and throttle during a transition as part 
of the VTOL takeoff navigation state

- the reset causes the loiter circle to be reset to home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-22 15:14:02 +01:00
benjinne 620f25503c Add geofence predict param (#17795) 2022-03-18 11:44:13 +01:00
RomanBapst 58a4c38519 rtl: don't fly mission landing if we trigger rtl in hover 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-11 15:23:31 +03:00
Matthias Grob 666cf2326d mission_block: handle SET_ROI_LOCATION with absolute altitude correctly (#19258) 2022-03-03 13:25:00 +01:00
Julian Oes 6021b8efb3 navigator: only apply breaking for multirotors 2022-02-22 09:41:22 -05:00
Julian Oes fa6c051ae5 navigator: break smoothly when entering hold mode 
This uses the existing breaking functionality when hold/loiter mode is
activated.
 2022-02-22 09:41:22 -05:00
Julian Oes f88dd28e85 navigator: extract breaking functionality out 
This only moves the breaking functionality out from the reposition
command handling to a function, so that it can get re-used in other
places.
 2022-02-22 09:41:22 -05:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Silvan Fuhrer c13726af66 Enable DO_SET_SPEED commands outside of missions in other AUTO modes (#18834) 
* Navigator: enable DO_CHANGE_SPEED for outside of mission
- update _mission_cruising_speed_mc/_fw also if DO_CHANGE_SPEED command
is received outside of mission (e.g. while Loitering doing an Orbit)
- if vehicle is in AUTO_LOITER when receiving the change speed, then immediately
apply it by doing a reposition without updating any other field than cruising_speed
and cruising_throttle
-when RTL is activated reset the cruising speed and throttle

* Navigator: reset cruise speed and throttle to default when VTOL-transitioning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 11:19:02 +01:00
Roman Bapst 6de5d24e00 Added VTOL Takeoff navigation mode (#19027) 
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF
* navigator: added support for vtol_takeoff navigation mode
 2022-02-15 14:56:57 +01:00
Silvan Fuhrer 374bcb105a RTL: fill loiter radius in state Climb (#19165) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-15 14:50:14 +01:00
Silvan Fuhrer 1d6396b418 Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-09 11:39:47 -05:00
mcsauder e554f0174d Format whitespace and group checkall() methods together in geofence class. 2022-01-31 21:01:03 -05:00
mcsauder 463ac8e8a1 Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h 2022-01-29 21:36:11 -05:00
Thomas Stastny f8c2ee73db handle line segment termination in navigator 
- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
 2022-01-13 13:43:02 +01:00
bresch ea7d2334c9 mpc: add parameter for ascent/descent speed in auto modes 2022-01-12 13:33:48 +01:00
Julian Oes cb15728536 Mantis: save mission in RAM 
This is using a reduced number of mission items of 1000 instead of 2000
in order to fit in RAM.
 2022-01-10 23:04:10 -05:00
Matthias Grob bbb04ab4b8 Remove relaying of maximum altitude through land detector 2022-01-05 14:54:59 +01:00
Daniel Agar b054fc7b8b navigator: trivial code style fix 2021-12-24 10:55:20 -05:00
seungjo0109 0f7c850080 Fix typo(at modules/navigator_main) 2021-12-24 08:54:43 -05:00
Daniel Agar 986cf288da dataman: remove obsolete persistence and reset reason 2021-12-12 12:06:35 -05:00
Daniel Agar d961a067b9 navigator: reduce NUM_MISSIONS_SUPPORTED 2000->500 for dataman RAM usability 2021-12-10 09:10:02 -05:00
Daniel Agar 01e60e853e navigator: increase stack slightly 2021-12-06 15:10:50 -05:00
Silvan Fuhrer ba1526896d Navigator: VTOL: remove generate_waypoint_from_heading() 
The FW Position controller sets the wp to be tracked during a
VTOL front transition, the coordinates sp set here weren't used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-06 16:30:59 +03:00
Matthias Grob 10ceea2fe6 geo: refactoring on comments and usage 2021-12-06 14:30:14 +01:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
Matthias Grob b59db7dac2 rtl_params: change default and max rtl time margin 2021-11-30 19:46:22 +01:00
Matthias Grob ea3b99e964 navigator: Remove deprecated RangeRTL unit tests 2021-11-24 14:10:24 +01:00
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Alessandro Simovic 7090e634cc mission_block: always accept yaw in MC takeoff 2021-11-16 12:35:16 -05:00
Silvan Fuhrer f492fa9d3a fix typo 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
RomanBapst 514cf12c57 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 3bd114bf9f RTL: if vehicle is a VTOL in hover, always consider all safe landing points 
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 1163a52c17 Navigator: remove unnecessary (duplicated) info messages for RTL 
There is already (a more precise) info message on RTL activation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer f4f9b8ebf2 RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding() 
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer ab08bbdb58 RTL: improve RTL info message 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 775a1eb4b6 RTL: remove unused function and non-informative comments 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer f02786d112 Navigator/Commander: make GPS failsafe consitent: switch to Descend also for FW and VTOL 
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 12:09:39 +03:00
RomanBapst eee5f501cd navigator: fix flyaway when altitude change is commanded without a valid 
triplet

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
RomanBapst bf6a47ba6a navigator: cleanup of set_loiter_item 
Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-10-27 11:01:13 +03:00
Silvan Fuhrer cb78ba34d7 Mission: for tangential loiter exit, set current position setpoint typ to position 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-10-27 11:01:13 +03:00