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b1a9d4b4c70b8f2a42f23127d8efe2565599b616
Commit Graph
187 Commits
Author SHA1 Message Date
Julian Oes ea35923d3a navigator: bugfix to prevent NaN setpoints 
The asinf function is NaN outside of -1 to 1. Therefore, it probably
makes sense to constrain the input to prevent NaN setpoints further down
the line.
 2019-10-09 08:36:34 -06:00
Silvan Fuhrer b1d38ee050 Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Timothy Scott 21760a5856 Changed constant name to UNMANNED_GROUND_VEHICLE 2019-06-13 10:04:26 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Timothy Scott 2ca40bfc65 Changed navigator to properly separate xy and z distance to waypoint 2019-06-13 10:04:26 +02:00
Daniel Agar 79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Daniel Agar 468fb53459 navigator fix FW loiter to alt tangent exit (#11576) 
- fixes #11317
 2019-03-03 22:22:32 -05:00
Daniel Agar 83e76ece1c navigator mission block fix get_time_inside() and cleanup helpers 2019-02-06 18:59:11 -05:00
Daniel Agar 3665bc59b8 navigator initialize all mission items safely 2019-02-06 18:59:11 -05:00
CarlOlsson e6d378c9aa navigator: fix typo 2018-10-22 09:26:06 -04:00
Martina 18f4144e5a mission_block: when creating a triplet from a mission item use the default 
acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
 2018-10-09 12:01:45 -04:00
Martina 7031bb5a6d navigator: add yaw_acceptance getter to incorporate feedback from position 
controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
 2018-09-24 11:23:01 +02:00
Philipp Oettershagen 20c02ae093 Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments. 2018-08-24 10:13:07 -04:00
Philipp Oettershagen ec4ccc1fcd Fixed-wing autoland: Use a more appropriate (i.e. mostly tighter) altitude acceptance radius than just the standard altitude acceptance parameter (which may be too large to allow a precise autoland) 2018-08-24 10:13:07 -04:00
Alessandro Simovic aad1ff0209 mission_block: explicit type conversion 2018-08-06 16:17:11 +02:00
Alessandro Simovic b527187a10 mission_block: swapped "param6" for "altitude" for consistency 2018-08-06 16:17:11 +02:00
Alessandro Simovic 337133e9fa use double LAT/LONG fields instead of float params for storing ROI settings 2018-08-06 16:17:11 +02:00
Jake Dahl 57dfcee842 added a check for not maybe_landed upon takeoff 2018-07-26 07:49:14 +02:00
Jake Dahl a1ff4a8a67 removed unneccessary includes, eliminated namespace on math, changed date 
changed a comment

reverted a file back to master
 2018-07-26 07:46:24 +02:00
Jake Dahl 130cdf25bf prevent RTL if already landing 2018-07-26 07:46:24 +02:00
Daniel Agar cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Daniel Agar d0bde9ab2a replace geo _wrap_pi with matrix::wrap_pi 2018-06-12 09:00:52 +02:00
Florian Achermann 84578748f4 Navigator Mission RTL (#8749) 
* Add return to land to mission

This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
 2018-05-27 12:07:06 -04:00
Sander Smeets 04cc5c5611 Navigator: VTOL only apply acceptance radius calculation for FW part of back transition (#9519) 2018-05-23 19:46:36 -04:00
Daniel Agar 29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Beat Küng f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Nicolas de Palezieux bc3577bd60 mission_block: do relative alt correction for correct nav_cmd 2018-01-25 15:27:55 +01:00
DonLakeFlyer 342509b3ab New ROI commands implementation 2018-01-25 15:27:55 +01:00
Nicolas de Palezieux bedaafcc20 NAV_CMD_DO_SET_ROI: handle relative altitude in mission ROI commands 2018-01-22 15:56:42 +01:00
Daniel Agar 956935141e Navigator simplify mission 2018-01-14 12:53:53 +01:00
Daniel Agar 25c7a03a8b Navigator remove unnecessary calls to updateParams 
- the SuperBlock already does this
 2018-01-14 12:53:53 +01:00
Daniel Agar 545f8c4452 RTL optionally use planned mission landing (#8487) 
- adds new RTL_LAND_TYPE parameter
 2018-01-04 23:42:01 -05:00
Daniel Agar 58d1cdc733 Allow MAV_CMD_DO_SET_HOME as a mission command 2017-12-20 10:19:07 +01:00
Julian Oes 6d8d6323cb navigator: bring follow me back to life 
The function `mission_item_to_position_setpoint()` is called in
`FollowTarget::update_position_sp()`. The nav_cmd is a
NAV_CMD_DO_FOLLOW_REPOSITION as set earlier in `set_follow_target_item`.

Since `mission_item_to_position_setpointi` returns early because the item
presumably contains no position, the lat/lon of the mission_item are
not copied over to the position_setpoint and therefore the vehicle will
never move in follow me position mode.
 2017-10-29 12:58:00 +01:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
Dennis Mannhart 8a0a8e20e1 mc_pos_control: use correct altitude as limit 
fadfdasf
 2017-10-10 10:28:07 +02:00
Dennis Mannhart f9b8afc006 Navigator: Use maximum flight altitude to limit missions 
This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
 2017-10-10 10:28:07 +02:00
Daniel Agar 3c18be387c ROI - move handling to navigator (#7939) 2017-09-26 12:25:02 -04:00
sanderux 919b3a218a Factor in reverse pusher delay on mission acceptance radius 2017-09-13 17:25:41 +02:00
sanderux e9516db5b0 Back transition duration based on deceleration m/s/s 2017-08-16 03:06:13 +02:00
José Roberto de Souza 925efe990d Initialize all outgoing vehicle_command_ack_s and vehicle_command_s 
This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.

This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
 2017-08-08 21:46:30 +02:00
Daniel Agar 9fb5c4f0e9 navigator land abort use reposition (#7574) 2017-08-01 18:59:12 -04:00
Lorenz Meier cb3222d131 Navigator: Be less verbose 2017-07-18 23:05:43 +02:00
Julian Oes 9854fc0d84 Set timestamp with vehicle commands 
The vehicle_command uORB messages had the timestamp unset at 0.
 2017-07-08 11:52:23 +02:00
Daniel Agar c8189b9c23 navigator mission_block check range for loiter exit 
- fixes #7510
 2017-06-29 21:28:26 +02:00
ChristophTobler bc406a122e disable min loiter altitude 2017-06-15 09:18:35 +02:00
Sean Matthews c41185a277 Fixes valid yaw check 2017-06-14 01:23:37 +05:30
Sean Matthews d9cec600ed Fixes #7313: Invalid setpoint yaw after takeoff 2017-06-14 01:23:37 +05:30
Daniel Agar f1079e3382 mission block remove unread value 2017-06-02 19:35:18 -04:00
Daniel Agar 64ed96d81a clang-tidy readability-simplify-boolean-expr 2017-06-02 19:35:18 -04:00