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27,525 Commits 852 Branches 161 Tags
ad88ef14e1745f04af27ecd7ad48ed62f491a0ea
Commit Graph
706 Commits
Author SHA1 Message Date
Roman ad88ef14e1 weathervane: use a single parameter to enable 
- in auto mode we always run weather vane
- in manual model we just use it in position control mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 96f3feb088 weathervane: get rid of passive strategy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 0e835cb498 Weathervane: pass quaterionon as constant reference 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman ccaeb58708 WeatherVane lib: address review comments 2018-09-19 08:27:07 +02:00
Roman ce7272a39c WeatherVane: calculate rotation matrix directly when updating 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman d6b6a1d0b3 addressed comments from review 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 4ad11484ca mc_pos_control: moded weathervane parameters to weathervane lib 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 8abcf2defa mc_pos_control: use weathervane library to make vehicle turn into relative wind 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Martina Rivizzigno 21f6ca4a1f mc_pos_control: fix desired trajectory waypoint. (#10372) 
- The first waypoint contains the vehicle current position and the desired velocity setpoint
 2018-08-31 17:28:15 -04:00
Daniel Agar 223dacee64 multicopter position controller use const references 2018-08-31 14:37:49 -04:00
Daniel Agar d131fea899 vehicle trajectory limit unnecessary updates and reduce logging (#10347) 
- fixes #10345
 2018-08-30 09:21:13 -04:00
Dennis Mannhart e2e8d6d135 mc_pos_control_main: fix comment and remove line that is not used 2018-08-30 09:27:48 +02:00
Dennis Mannhart 72f1fca55c mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2 2018-08-30 09:27:48 +02:00
Dennis Mannhart 81c5025ad8 mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of 
the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
 2018-08-30 09:27:48 +02:00
Dennis Mannhart 06c10f61c1 mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail 2018-08-30 09:27:48 +02:00
alessandro 74785f75bd ControlMath: Initialize vehicle_attitude_setpoint 2018-08-29 17:41:11 +02:00
Dennis Mannhart 3ff8cd33a1 mc_pos_control: smooth takeoff requires current position as reference 2018-08-28 10:14:54 +02:00
Martina Rivizzigno 854e4ef3de mc_pos_control_main: fix typo (#10274) 2018-08-20 10:56:43 -04:00
ChristophTobler b14839ab2b mc_pos_ctrl: send vehicle cmd if task fails and task should be switched 
without this tasks will be switched all the time and the drone starts driftig
 2018-08-16 09:48:59 +02:00
Dennis Mannhart a9d83b77de ControlMath: math optimization 2018-08-15 16:19:51 +02:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina da2191b721 mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance 2018-08-09 16:38:47 -04:00
Martina 0694abf916 mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance 
active
 2018-08-09 16:38:47 -04:00
Martina 4b54050358 mc_pos_control: get empty avoidance waypoint from fligth task so that code 
isn't duplicated
 2018-08-09 16:38:47 -04:00
Martina 8190242e02 mc_pos_control: port trajectory interface to the new mc_pos_control 
structure (flight task refactor)
 2018-08-09 16:38:47 -04:00
ChristophTobler 8090708f76 FlightTasks: generate tasks depending on target 
- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks
 2018-08-08 13:44:49 +02:00
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
Dennis Mannhart e0f505ec57 mc_pos_control_param: MPC_YAW_MODE remove option "set by waypoint" because that 
is executed at any time if triplet as valid yaw waypoint
 2018-08-03 08:24:34 +02:00
Dennis Mannhart 27812ad7ac mc_pos_control_params: add MPC_YAW_MODE for heading during auto 2018-08-03 08:24:34 +02:00
Paul Riseborough a37580ceac mc_pos_control: remove un-used parameter 2018-07-22 17:42:31 +10:00
Paul Riseborough dd3fb84db8 mc_pos_control: Fix parameter description error 2018-07-22 17:42:31 +10:00
Paul Riseborough 82780e33b9 mc_pos_control: Add parameter support for terrain hold function 
This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
 2018-07-22 17:42:31 +10:00
Dennis Mannhart 18a3c08659 mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF 2018-07-20 09:26:18 +02:00
Dennis Mannhart ab1ae1fb4e mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid 2018-07-20 09:26:18 +02:00
ChristophTobler 9362f844f4 position control: fix failsafe thrust 
invert direction to point upwards and increase to 70% of throttle range between min and hover
 2018-07-20 09:26:18 +02:00
ChristophTobler 7cc85885a4 position control: set _skip_controller before calling _interfaceMapping() 
Without this failsafe will be overwritten
 2018-07-20 09:26:18 +02:00
ChristophTobler 80867343ab mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid 2018-07-20 09:26:18 +02:00
Dennis Mannhart 260284571d mc_pos_control: move failsafe logic into method 2018-07-20 09:26:18 +02:00
Dennis Mannhart ac2c49218d mc_pos_control: remove mavlink_log_info 2018-07-20 09:26:18 +02:00
Dennis Mannhart f11a65a74f mc_pos_control: fix overwrite for state velocity 2018-07-20 09:26:18 +02:00
Dennis Mannhart f2d559a4c2 mc_pos_control: minor refactor 2018-07-20 09:26:18 +02:00
Dennis Mannhart b5731e0ccd FlightTaskOffboard: only start task if control mode flags are met 2018-07-20 09:26:18 +02:00
Dennis Mannhart bf4ac7a9d6 mc_pos_control: for terrain following use range sensor climbrate for velocity estimate 2018-07-20 09:26:18 +02:00
Dennis Mannhart e51e1bbe74 mc_pos_control: replace legacy refactor 
Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.

This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
 2018-07-20 09:26:18 +02:00
Dennis Mannhart a5e8eb23ad PositionControl: saturate thrust integral 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5ffcb6af01 PositionControl: set vel_dot to 0 if NAN 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7b13803e2c PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust 2018-07-20 09:26:18 +02:00
Dennis Mannhart e8620708b3 PositionControl: set states to zero if not valid 2018-07-20 09:26:18 +02:00
Dennis Mannhart e6f6e2085c ControlMath: remove false comment 2018-07-20 09:26:18 +02:00
Dennis Mannhart 9c7c60ddc8 remove mc_pos_control_tests 2018-07-20 09:26:18 +02:00