0863e95a2c
Add "Tracking Anti-Reset Windup" in velocity PID controller
2018-11-15 22:08:00 +01:00
3b92d49b64
replace + with &&
2018-11-05 21:54:19 +01:00
6a0a9c92fb
PositionControl:
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- set integral states and setpoint of reference state to 0
- set thrust to NAN if it will be computed from position and velocity control
2018-11-05 21:54:19 +01:00
1f0d559d65
PositionControl: check and set _skip_controller flag at the end of the setpoint update
2018-10-10 10:29:46 -04:00
2f833a26d1
mc_pos_control: check if position-control setpoint update succeeded.
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refactor use_obstacle_avoidance method
2018-10-10 10:29:46 -04:00
bee6a6b8b0
Refactor: Use new matrix::Vector2f constructor
2018-10-01 08:10:21 -04:00
223dacee64
multicopter position controller use const references
2018-08-31 14:37:49 -04:00
9362f844f4
position control: fix failsafe thrust
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invert direction to point upwards and increase to 70% of throttle range between min and hover
2018-07-20 09:26:18 +02:00
7cc85885a4
position control: set _skip_controller before calling _interfaceMapping()
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Without this failsafe will be overwritten
2018-07-20 09:26:18 +02:00
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
e8620708b3
PositionControl: set states to zero if not valid
2018-07-20 09:26:18 +02:00
9c2ec3c229
PositionControl: add control states structure
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
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parameter values
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
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
65a9cd171f
PositionControl: variable replacement
2018-07-20 09:26:18 +02:00
e2ac12ef2c
FlightTask: comment fixes
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
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
816f2d12d5
FlightTaskAuto minor clean up
2018-07-20 09:26:18 +02:00
3c40aa0d9c
PositionControl: if valid velocity and position setpoint available, always prioritize
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velocity setpoint generated from position error over velocity feedforward
2018-07-20 09:26:18 +02:00
558a0f892c
PositionControl: auto takeoff with constant speed
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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
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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
76c94b08f1
PositionControl: use constant references instead of pass-by-value for structs
2018-06-13 16:19:34 +02:00
48fa3fbca3
PositionControl: thrust setpoint check with fabsf
2018-04-05 07:30:12 +02:00
26ffda5079
PositionControl: replace matrix length() method with simple dot-product to safe compuation
2018-04-05 07:30:12 +02:00
81da94ff46
PositionControl: Anti-windup that uses max in NE based on tilt limit and remaining throttle
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excess
2018-04-05 07:30:12 +02:00
f99471f34c
PositionControl: refactor remove Data define for Vector
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This define results in super unreadable code.
2018-04-05 07:30:12 +02:00
88cf2aebc6
PositionControl: comment fix + unused parameter removal
2018-04-05 07:30:12 +02:00
03b3026e18
PositionControl: remove unused parameters
2018-04-05 07:30:12 +02:00
67900512ab
PositionControl: remove legacy yaw logic
2018-04-05 07:30:12 +02:00
bd37c274c6
PositionControl: parameter naming fix
2018-04-05 07:30:12 +02:00
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
2018-04-05 07:30:12 +02:00
6a639373ae
PositionControl: set vel_dot to 0 if thrust setpoint is used
2018-04-05 07:30:12 +02:00
3d591f4f8c
FlightTaskManualAltitude: thrust along xy depends on thrust along z direction
2018-04-05 07:30:12 +02:00
85a263c7bd
vehicle local position setpoint: use array for thrust setpoint
2018-04-05 07:30:12 +02:00
a74c1116ee
mc_pos_control/PositionControl: enable thrust setpoint
2018-04-05 07:30:12 +02:00
bresch