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Author SHA1 Message Date
bresch 2307c7c390 Geofence - Rename _warning_action_on to _geofence_warning_action_on 
since it is only set by the geofence logic. Simplify conditions in IF
statements.
 2019-06-04 08:35:56 +02:00
bresch f8f967f073 Geofence - Change from "re-engage geofence failsafe every 10s when 
outside the fence" to "engage geofence failsafe on transition". This
way, the pilot is not stucked in the non flight zone and can switch to
a manual mode and fly back or trigger RTL.
 2019-06-04 08:35:56 +02:00
bresch 427b2e6636 Geofence - Do not trigger geofence failsafe while in low battery 
failsafe action.
Also move geofence flags from static variables declared into the if
statement to private members of the class.
 2019-06-04 08:35:56 +02:00
bresch d13dfdcd24 AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate 2019-05-30 11:14:44 +02:00
bresch a7cf981c8c AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero 2019-05-30 11:14:44 +02:00
bresch 3499b6ff89 AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s 
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
 2019-05-30 11:14:44 +02:00
bresch bb055fdaf3 AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly 2019-05-22 22:05:38 +02:00
bresch feefbb444b ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration 2019-05-17 14:15:29 +02:00
Mathieu BrescianiandMatthias Grob 4b2d01dea1 MPC parameters - Update from Matthias' comments 
Co-Authored-By: Matthias Grob <maetugr@gmail.com>
 2019-05-17 14:15:29 +02:00
bresch b726d8df0d Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode 2019-05-17 14:15:29 +02:00
bresch 02f0533ee9 Commander - Remove old code that overrides state_machine_helper logic 2019-05-07 17:45:28 +02:00
bresch 6d8d8e3c88 MC gyro cutoffs - Reduce IMU_GYRO_CUTOFF to 30Hz and disable MC_DTERM_CUTOFF. 
A low gyro cutoff is needed for most medium/large size drones as the structural natural and blade-pass frequencies are low.
A higher value is still desirable for small platforms surch as racers
or well isolated autopilots and should be tuned by the user.
Specific values for config files are untouched.
The cutoff filter for the D term is disabled here as the required
cutoff frequency for the default D term of the rate controller is higher
than the gyro cutoff. In that case, enabling the D term cutoff would
just add some undesired phase lag to the derivative.
 2019-05-07 12:15:51 +02:00
bresch 881d0f4143 UAVCAN - update ROMFS_FW_PATH to /etc/uavcan/fw. to match documentation 2019-05-02 16:22:33 -05:00
bresch 89bc68e12b Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX 2019-04-26 12:43:26 +02:00
bresch 581d25f77f Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller 
Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
 2019-04-26 12:43:26 +02:00
bresch 903deb7579 RTL - Skip descend state if no delay is set between descend and land 2019-04-25 18:24:04 +02:00
bresch 93d52581ef Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK 2019-04-15 16:32:26 +02:00
bresch dec96b0a3a revert FlightTasks: fix mission DO_CHANGE_SPEED 2019-04-03 18:08:24 +02:00
bresch 20adce5077 Add new line at the end of FlightTaskFailsafe.cpp and FlightTaskAutoLine.cpp 2019-04-03 15:38:50 +02:00
bresch 986c1a37d1 Parameter update - Rename variables in modules/ekf2 
using parameter_update.py followed by a make format
 2019-04-03 15:38:50 +02:00
bresch da2deaa0b2 Parameter update - Rename variables in modules/mavlink 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch f3990c84fc Parameter update - Rename variables in modules/navigator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch e575f032e4 Parameter update - Rename variables in modules/mc_att_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2197ac883d Parameter update - Rename variables in modules/wind_estimator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 6c823903bc Parameter update - Rename variables in modules/simulator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch f08c00f324 Parameter update - Rename variables in modules/fw_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ecacf4de46 Parameter update - Rename variables in modules/load_mon 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 10ba0801d2 Parameter update - Rename variables in modules/fw_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ece49247b6 Parameter update - Rename variables in modules/mc_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch c6e7c0fa5d Parameter update - Rename variables in modules/events 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2ca8ddd8af Parameter update - Rename variables in modules/commander 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2255ab21be Parameter update - Rename variables in templates 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch b14446f0e5 Parameter update - Rename variables in lib 
using paramter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ec5da55107 Parameter update - Rename variables in drivers 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch aa8edbc2ba Parameter update - add -tcpp flag in rg to check C++ files only 2019-04-03 15:38:50 +02:00
bresch 06ab8570ab Parameter update - Add parameter_update.py script used to rename the BlockParam variables with the new strict naming convention 2019-04-03 15:38:50 +02:00
bresch 99fb88ce83 AltitudeSmoothVel - Create new altitude flight task that uses the 
velocity smoothing library to create a jerk-limited trajectory along the
Z axis. This FlightTask is used when MPC_POS_MODE = 3.
 2019-04-03 10:43:31 +02:00
bresch a08b1682e3 [Position|AutoLine]SmoothVel - Update position and velocity states of the trajectories in case of EKF reset. Until now, only the position reset on XY axis was properly handled. Now, xy, vxy, z and vz are handled 2019-03-20 14:35:26 -04:00
bresch 0813f30723 AutoLineSmoothVel - change function contrain_one_side(..) from snake_case to camelCase 2019-03-20 14:35:26 -04:00
bresch aecf8fce58 ManualPositionSmoothVel - Force velocity and acceleration setpoints to zero if the velocity setpoint is smaller than 1mm/s and that the acceleration setpoint is null 2019-03-18 08:33:11 +01:00
bresch 1fefa76e5d ManualSmoothVel - Set jerk to 1.0 during position hold to help the optimizer to converge towards 0 vel and acc 2019-03-18 08:33:11 +01:00
bresch 06f683bdda VelocitySmoothing - Add simple test script 2019-03-18 08:33:11 +01:00
bresch b9cf4dfb6c VelocitySmoothing - Get rid of math.h, math.cpp and px4_defines dependencies 2019-03-18 08:33:11 +01:00
bresch ddab0ccdf1 VelocitySmoothing - Protect against division by zero and sqrt of a negative number 2019-03-18 08:33:11 +01:00
bresch c5706f6283 FlightTaskAuto - Recover position control after local position reset (#11636) 
* FlightTaskAuto - Explicitly check is _triplet_target is finite to decide if the target has to be updated or not. If the _target is NAN, always try to update it to get a valid setpoint.
 2019-03-15 00:42:24 -04:00
bresch 684e2974ac mc_pos_control_main - Re-add updateVelocityControllerIO for glitch-free position unlock 2019-02-28 21:26:13 +01:00
bresch f229444722 ManualSmoothVel - Split position lock condition and flag action 2019-02-25 21:41:04 +01:00
bresch 8f584a1496 smooth takeoff - Support smooth takeoff triggered by jerk setpoint 2019-02-25 08:07:33 +01:00
bresch 197ddd3e46 mc_pos_control - Publish trajectory setpoint directly after the FlightTask update 2019-02-13 20:56:57 +01:00
bresch c0dab47554 mc_pos_control - reduce smooth_velocity_takeoff default threshold, set initial takeoff speed to 0 and remove useless else 2019-02-13 20:56:57 +01:00
bresch e0c48d1d76 PositionControl - use dynamic constraints to saturate velocity controller for now as it is needed for the current smooth takeoff logic. Will be reverted after smooth takeoff refactor 2019-02-13 20:56:57 +01:00
bresch 106f0769fd mc_pos_control - add takeoff_ramp_time zero division guard 2019-02-13 20:56:57 +01:00
bresch 70ddb8049a Traj Smoothing - make format 2019-02-13 20:56:57 +01:00
bresch 3543071eb9 Position Controller - Saturate the controllers using static parameters. Handle saturations in the flight tasks only 2019-02-13 20:56:57 +01:00
bresch 4cace1bbe9 Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator 2019-02-13 20:56:57 +01:00
bresch b7c2464cce Manual vel smooth - Use MPC_JERK_MAX only 2019-02-13 20:56:57 +01:00
bresch 1730cd3a69 Velocity Smoothing - Various improvements, cleanup and corner cases fixes 2019-02-13 20:56:57 +01:00
bresch f1262cbe84 Manual Traj - Avoid velocity jumps due to a modification of the constraints 2019-02-13 20:56:57 +01:00
bresch 57eef6b170 Manual Trajectory - Add Z position lock logic and log complete trajectory 2019-02-13 20:56:57 +01:00
bresch 5229882470 Camera Capture - Use falling edge only 2019-02-10 18:07:44 -05:00
bresch 7906bff914 Camera Capture - add "status" to camera_capture usage help message 2019-02-10 18:07:44 -05:00
bresch faa8b6fe6d Camera Capture - enable capture at startup 2019-02-10 18:07:44 -05:00
bresch df58e161d1 Trajectory auto - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
bresch a2d5485c7f Trajectory manual - Handle EKF xy reset 2019-01-22 17:23:16 +01:00
bresch a2e9d9ffce AutoSmoothVel - Handle NAN in velocity and position properly 2019-01-17 17:55:37 +01:00
bresch 766f911005 beta75 - Reduce MC_YAWRATE_P to avoid oscillations when battery is fully charged 2019-01-14 18:38:31 +01:00
bresch 118848d261 beta75 - Adjust PWM_MIN and set number of cells 2019-01-14 18:38:31 +01:00
bresch 7cc00f41d2 AirModeYaw - Change airmode type from bool to int 2018-12-13 09:50:07 +01:00
bresch be2e80c186 MPC_YAW_MODE - Change max to 3 to enable trajectory alignment 2018-11-30 09:27:40 -05:00
bresch 20f870137b FW auto - Add parameter for flaps setting during landing 2018-11-23 10:40:27 +01:00
bresch 7779c0bd69 MPC - Update velocity integrator definition 2018-11-15 22:08:00 +01:00
bresch d852ce20e6 MPC - Increase max velocity integral gain to 3.0 2018-11-15 22:08:00 +01:00
bresch 0863e95a2c Add "Tracking Anti-Reset Windup" in velocity PID controller 2018-11-15 22:08:00 +01:00
bresch f590137525 Fix HIL 
Revert "pwm_out_sim lazily publish actuator_outputs"

This reverts commit bcad940a9f.
 2018-11-12 19:21:15 +01:00
bresch 90cee2d5ea Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff) 2018-11-06 22:17:00 +01:00
bresch c3a4fff0cd Auto traj - generate heading from trajectory velocity vector if possible 2018-11-06 22:17:00 +01:00
bresch 066d1f50c4 Auto traj - Add dedicated parameter to enable trajectory smoothing in auto mode only 2018-11-06 22:17:00 +01:00
bresch 7205e8f359 Auto traj - Add Trajectory logging 
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
 2018-11-06 22:17:00 +01:00
bresch 2847ce20b8 Auto traj - Add parameter for gain of trajectory controller 2018-11-06 22:17:00 +01:00
bresch 2c63388fb7 Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task 2018-11-06 22:17:00 +01:00
bresch 0209fa00bf Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks 2018-11-06 22:17:00 +01:00
bresch 67c0846068 Vel smooth - Improve position lock/unlock detection 2018-11-06 22:17:00 +01:00
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
bresch 84665672ad Vel smooth - Change jerk scheduling strategy 2018-11-06 22:17:00 +01:00
bresch ab7e4436b3 Vel smooth - Add Z trajectory 2018-11-06 22:17:00 +01:00
bresch 4f668c0c2d SITL - update default velocity PID gains 2018-11-06 22:17:00 +01:00
bresch 22780efcd0 Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between. 2018-11-06 22:17:00 +01:00
bresch d69cba5db9 FW trim - Fix typos in FW_DTRIM_R/P/Y_VMAX 2018-10-09 10:37:22 +02:00
bresch 740e409016 PWM - Add PWM_MIN and PWM_MAX parameters for MAIN and AUX (#10452) 2018-09-16 18:07:29 -04:00
bresch 124a34e8f6 Failure Detector - Add space between Failure and Detector in @group field 2018-08-28 11:23:25 -04:00
bresch 9be0c97346 Failure Detector - use bitmask field instead of boolean in vehicle_status msg (failure_detector_status) and instead of struct in class 2018-08-28 11:23:25 -04:00
bresch 0001031e59 Failure Detector - Rename parameters and change group 2018-08-28 11:23:25 -04:00
bresch 93ba11c218 Failure Detector - Move COM_FAIL_x params to dedicated _param.c file 2018-08-28 11:23:25 -04:00
bresch 92b00ec07e Failure Detector - Do not trigger force_failsafe flag anymore 2018-08-28 11:23:25 -04:00
bresch fea91c96e8 Failure Detector - Use dedicated parameters for attitude checks 2018-08-28 11:23:25 -04:00
bresch 72f2317c95 Failure Detector - move "force_failsafe" flag inside circuit_breaker protection; remove PX4_WARN and send mavlink msg only once 2018-08-28 11:23:25 -04:00
bresch 9a6fef62ab Vehicle_Status_msg - Add attitude_failure flag to vehicle_status message 2018-08-28 11:23:25 -04:00