 Andreas Antener
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7f5a2b1bac
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only use the default acceptance radius for checking mission feasibility
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2016-04-08 22:40:02 -07:00 |
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Andreas Antener
|
aafeab63d5
|
do not try to calculate FOH altitude when distance and acceptance radius are 0
|
2016-04-02 21:29:26 +01:00 |
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Andreas Antener
|
ffb72d3fae
|
added battery current sensor offset
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2016-03-30 21:07:31 +02:00 |
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Andreas Antener
|
4a4ab13bfe
|
log both actuator groups 0 and 1 again
|
2016-03-30 20:59:28 +02:00 |
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Andreas Antener
|
d9cabde13e
|
reset mission after vehicle was in mission and then disarms
|
2016-03-27 12:25:47 +02:00 |
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Andreas Antener
|
fc061ea94d
|
try meas airspeed on I2C bus 2 on fmu rev 3
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2016-03-27 12:06:40 +02:00 |
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Andreas Antener
|
f3a1abf659
|
added support for SP type idle
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2016-03-21 20:32:19 +01:00 |
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Andreas Antener
|
664b0ee0a9
|
read setpoint type from type mask in offboard
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2016-03-21 20:32:19 +01:00 |
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Andreas Antener
|
46ad873d00
|
add nan protection to attitude and actuator targets
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2016-03-21 20:32:19 +01:00 |
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Andreas Antener
|
b1ee89b5ca
|
add nan protection for position target local
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2016-03-21 20:32:18 +01:00 |
|
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Andreas Antener
|
a1f4ab21bf
|
fixed code style
|
2016-03-20 14:48:47 +01:00 |
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Andreas Antener
|
6782bdaf69
|
prevent alternate flight control group (1) throttle from being active when safety is disabled
|
2016-03-20 11:19:23 +01:00 |
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Andreas Antener
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4847023cad
|
reset current setpoint when entering RTL
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2016-03-19 19:30:09 +04:00 |
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Andreas Antener
|
55e1259f59
|
prevent vtol from entering ACRO (temporary)
|
2016-03-10 21:43:47 +01:00 |
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Andreas Antener
|
6eb2e62306
|
temporarily use indicated airspeed for transitions so we're consistent with tecs until we move tecs to true airspeed
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2016-02-18 18:55:56 +01:00 |
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Andreas Antener
|
0ccf0ce747
|
only run FW posctl in FW mode and ramp up desired airspeed for tecs after transition
|
2016-02-18 18:55:56 +01:00 |
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Andreas Antener
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fe89bee02a
|
using 0 pitch and thrust FW attitude SP when TECS isn't running
|
2016-02-18 18:55:56 +01:00 |
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Andreas Antener
|
3773eaad99
|
VTOL/TECS: publish transition throttle after transition until tecs is initialized and fw pos ctl is publishing att setpoint
|
2016-02-18 18:55:56 +01:00 |
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Andreas Antener
|
967b404de8
|
only run FW posctl in FW mode and ramp up desired airspeed for tecs after transition
|
2016-02-18 18:55:56 +01:00 |
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Andreas Antener
|
770c020117
|
removed lower default from vtol config, added flight tested Fun Cub parameters
|
2016-02-17 10:49:28 +01:00 |
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Andreas Antener
|
48e2053f98
|
fixed code style
|
2016-02-16 10:26:13 +01:00 |
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Andreas Antener
|
570fb97163
|
updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly
|
2016-02-15 23:29:47 +01:00 |
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Andreas Antener
|
eb5b8a32ee
|
transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem
|
2016-02-15 23:29:38 +01:00 |
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Andreas Antener
|
bb4decfa8b
|
implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default
|
2016-02-15 23:26:28 +01:00 |
|
|
Andreas Antener
|
8dbbe1b1f3
|
fixed code style in px4io.cpp
|
2016-02-15 15:55:14 +01:00 |
|
|
Andreas Antener
|
9e2e78c9ed
|
only set PWM AUX values where necessary so the surfaces don't move to extreme positions on boot
|
2016-02-15 13:29:26 +01:00 |
|
|
Andreas Antener
|
7db35337da
|
use control flag to decide if we enable wv or not
|
2016-02-15 09:48:37 +01:00 |
|
|
Andreas Antener
|
b9b05dcc03
|
updated docs for FW_AIRSPD_SCALE param
|
2016-02-14 13:24:58 +01:00 |
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|
Andreas Antener
|
f8915104e0
|
use multi subscribe to get topics for sdlog
|
2016-02-12 13:56:03 +01:00 |
|
|
Andreas Antener
|
2ff9fd64b1
|
increased stack sizes for mc and fw pos ctl
|
2016-02-11 16:53:35 +01:00 |
|
|
Andreas Antener
|
ff43c1ab6a
|
disable yaw on takeoff wp before heading update
|
2016-02-11 16:53:35 +01:00 |
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|
Andreas Antener
|
a8e3194dfa
|
reset transition failsafe state after switching out of failed transition mode
|
2016-02-10 19:03:24 +01:00 |
|
|
Andreas Antener
|
5b8b445425
|
consider transition command for the correct state
|
2016-02-10 18:36:38 +01:00 |
|
|
Andreas Antener
|
fb8b981015
|
make FOH and yaw mode work in parallel
|
2016-02-08 23:36:07 +01:00 |
|
|
Andreas Antener
|
a63197b82b
|
prevent home yaw mode for vtol during transitions
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
e60cd46ad0
|
removed duplicate and unused flag vtol_in_transition
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
7af0816570
|
fixed yaw calculation for all yaw modes and stay during loiter items
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
20ef3adb1f
|
set relative altitude to false when using the feedback for the landing waypint
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
baa11e357d
|
refactored do_set_servo handling and generalized formatting of CMD mavlink mission items, fixes #3644
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
46bd1cbacf
|
only update previous setpoint if we read a new actual position setpoin, prevent yawing between waypoints inside the acceptance radius
|
2016-02-08 11:09:12 +01:00 |
|
|
Andreas Antener
|
4e0559eacf
|
updated mpc parameters for sitl standard vtol
|
2016-02-08 11:09:12 +01:00 |
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|
Andreas Antener
|
134e95efda
|
don't use waypoint heading for landing descent
|
2016-02-08 11:09:12 +01:00 |
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|
Andreas Antener
|
b05465470a
|
ignore wp altitude for intermediate landing wp so it doesn't descent before it is in landing mode
|
2016-02-08 11:09:12 +01:00 |
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|
Andreas Antener
|
fec7950424
|
prevent yaw setpoint from changeing constantly when we're over it
|
2016-02-08 11:09:12 +01:00 |
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|
Andreas Antener
|
26c635359e
|
updated some message severities and clarified reset in pos controller
|
2016-02-08 11:09:11 +01:00 |
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|
Andreas Antener
|
e2328fcd72
|
use default acceptance radius for takeoff in MC case, set VTOL radius to 3
|
2016-02-08 11:09:11 +01:00 |
|
|
Andreas Antener
|
e32ec2a29a
|
wait until until vehicle enters transition before continuing after transition command
|
2016-02-08 11:09:11 +01:00 |
|
|
Andreas Antener
|
1351c6f68c
|
small fixes
|
2016-02-08 11:09:11 +01:00 |
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|
Andreas Antener
|
dfb31f2252
|
finish moving to waypoint after a back transition
|
2016-02-08 11:09:11 +01:00 |
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|
Andreas Antener
|
0bdfb465cf
|
set correct mission item type for aligning before transition
|
2016-02-08 11:09:11 +01:00 |
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|
Andreas Antener
|
c11a677207
|
directly issue status update after vtol update
|
2016-02-08 11:09:11 +01:00 |
|
|
Andreas Antener
|
ff47cae7c1
|
removed warning
|
2016-02-08 11:09:11 +01:00 |
|
|
Andreas Antener
|
02aa0eacd5
|
align towards next waypoint before MC to FW transition
|
2016-02-08 11:09:11 +01:00 |
|
|
Andreas Antener
|
b75eaf3c4a
|
implemented takeoff before WP and move to WP before land
|
2016-02-08 11:09:10 +01:00 |
|
|
Andreas Antener
|
ac985ee1c7
|
fixed mission item iteration
|
2016-02-08 11:09:10 +01:00 |
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|
Andreas Antener
|
93bc018c93
|
read current and next mission item at the same time, issue item commands while processing items, guarding setpoint from non-position items
|
2016-02-08 11:09:10 +01:00 |
|
|
Andreas Antener
|
7a592d56a2
|
initialize mission item struct
|
2016-02-07 11:36:03 +01:00 |
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|
Andreas Antener
|
48ea0230e1
|
minimum clearance for separate takeoff item needs to be bigger than acceptance radius
|
2016-02-07 01:32:34 +01:00 |
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|
Andreas Antener
|
248bbcb520
|
use system specific acceptance radius for multirotor takeoff, ignore mission item
|
2016-02-07 01:32:34 +01:00 |
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|
Andreas Antener
|
0aff2e6c09
|
limit takeoff and land velocity to max z velocity
|
2016-02-02 21:35:18 +01:00 |
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|
Andreas Antener
|
e6db5e2db1
|
set all outputs for firefly
|
2016-01-27 15:07:11 +01:00 |
|
|
Andreas Antener
|
1363e4aa8f
|
use 400Hz for motor outs in vtol configs, fixes #3609
|
2016-01-27 15:06:58 +01:00 |
|
|
Andreas Antener
|
3928924c43
|
RTL was broken by a recent change, revert
Revert "for multicopter landings make sure that the copter moves"
This reverts commit ad1058d3742bbfa9cbd16648aa2925fa1e618a55.
|
2016-01-26 15:53:52 +01:00 |
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|
Andreas Antener
|
9e2dd7aab6
|
landing without thrust limiting
|
2016-01-22 11:51:38 +01:00 |
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|
Andreas Antener
|
4614511474
|
use set takeoff speed
|
2016-01-21 10:18:13 +01:00 |
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|
Andreas Antener
|
05b23a8b54
|
disable pos/vel control during mission in transitions
|
2016-01-14 16:07:01 +01:00 |
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|
Andreas Antener
|
7e7b21cbdc
|
use raw parameter floats if mission item is a mission command
|
2016-01-11 08:19:00 +01:00 |
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|
Andreas Antener
|
b0333e3e95
|
allow transition commands in auto mode
|
2016-01-11 08:19:00 +01:00 |
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|
Andreas Antener
|
4b9a793c8f
|
properly handle takeoff waypoint when not currently at takeoff location
|
2016-01-07 22:24:32 +01:00 |
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|
Andreas Antener
|
99f4487cc3
|
allow yawing with 0 throttle, changed condition to not being landed
|
2016-01-06 08:33:51 +01:00 |
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|
Andreas Antener
|
11ed5169cc
|
don't use default source address for onboard udp link, wait on remote
|
2016-01-04 23:58:05 +01:00 |
|
|
Andreas Antener
|
3d971e214a
|
don't update local position reference if home position changes
|
2015-12-31 13:24:12 +01:00 |
|
|
Andreas Antener
|
d39e313768
|
use the proper check to prevent multiple mavlink instances on the same udp port, added warning when different remote than localhost connects to udp
|
2015-12-31 11:50:52 +01:00 |
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|
Andreas Antener
|
6c04ab970b
|
fixed formatting
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
bd3d53902a
|
readded missing rotation
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
68c9c4ae0f
|
better defaults for relevant landing/takeoff parameters
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
52951801c9
|
updated solo config for master
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
65299e7aaf
|
updated jmavsim iris config for takeoff and landing
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
b5f3c2d30d
|
ramp up jump velocity instead doing a huge step
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
98bec0e175
|
also filter acceleration to filter out the bump on the ground on landing
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
e0405617ef
|
also don't reset possp if near a loiter sp
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
ee0aa7b37d
|
recalculate absolute thrust before limiting
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
d9878493bd
|
cleaning up takeoff/landing logic, commenting on magic values
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
c033ef959a
|
proper setpoint handling on takeoff, switch to loiter sp when takeoff finished
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
fe90e7882b
|
do mission notifications for landing, switch to idle setpoint when landed
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
05a73d2821
|
added takeoff logic for position controller to get the uav off the ground fast and transition smoothly to poctl after takeoff, added landing logic to reduce thrust to zero once on the ground
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
ea7a1a92b5
|
correct thrust limiting during landing with margin, don't reset position setpoint when switching from takeoff to posctl and allow high enough z velocity for position lock
|
2015-12-28 15:23:20 +01:00 |
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|
Andreas Antener
|
09b5bdb1ee
|
in mc auto: do not reset the position sp while near the waypoint, should make switching to manual pos control smoother
|
2015-12-28 15:23:20 +01:00 |
|
|
Andreas Antener
|
5a009ce4c8
|
don't throttle up anymore during landing
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
f17c5d8d55
|
fixing takeoff mission and swtiching to previous flight mode after land/takeoff
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
64349c7a09
|
ability to switch to land mode
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
c32d44d8b4
|
disable position controller when landed and in manual control
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
3c4141ff50
|
increased time for less strict takeoff detection after arming
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
44f13006dd
|
update mission state on takeoff
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
bfb862763c
|
switching to prev main state after landing when disarmed
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
fbf42c8949
|
added auto takeoff support, updated configuration for solo and generalized landing mission items
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
3847c826ec
|
added initial solo config
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
e8e81650dc
|
implemented command ACK
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
94bfad5057
|
added rotation for solos external mag
|
2015-12-28 15:21:50 +01:00 |
|
|
Andreas Antener
|
0f67d3fcd8
|
removed jerk fix and reset prev horizontal vel sp with current velocity
|
2015-12-18 15:55:17 +00:00 |
|