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Commit Graph
79 Commits
Author SHA1 Message Date
Dennis Mannhart 998a95db55 mission.h: remove MIS_YAWMODE 2018-08-03 08:24:34 +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
Beat Küng 2e6904b8a4 navigator: use '#pragma once' as include guard 2018-03-13 17:35:15 +01:00
Beat Küng f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Nicolas de Palezieux 7ae3884944 heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs 
ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
 2018-01-22 15:56:42 +01:00
Nicolas de Palezieux aa4c6c038d navigator : add support for precision landing 2018-01-15 10:27:23 +01:00
Daniel Agar 916d6a15fd Mission merge offboard + onboard and simplify 2018-01-14 12:53:53 +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 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
Julian Oes 787931f04f navigator: check distances between waypoints 
Instead of just checking whether the first waypoint is too far away from
home it makes sense to also check between waypoints.
This can prevent
- flyaways due to user errors, or
- catch the corner case where a takeoff waypoint is added to a mission
  and therefore the first waypoint is not too far away, however, the
  subsequent waypoints are still too far away.
 2017-10-18 08:42:20 +02:00
Nicolas de Palezieux a6ce2b320c mission: add heading towards ROI mode for multicopters 2017-09-08 12:50:15 -04:00
Lorenz Meier 52ba62d6c4 Navigator: Pause and unpause camera triggering on entering and exiting a mission 2017-08-20 22:47:48 +02:00
Daniel Agar 56b028148b Navigator move get_time_inside and cleanup (#7062) 2017-04-20 11:24:55 -04:00
Andreas Antener 338804606a Fixed-wing: allow mission takeoff 2017-01-13 00:18:08 -08:00
Daniel Agar c280358e32 navigator fix code style 2017-01-07 01:03:18 -05:00
Simon Wilks 647fafe9bc Allow for immediate cruise speed changes at any time during a mission. 2016-12-28 11:53:19 +01:00
Andreas Antener e0fc0a847c Mission: 
- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
 2016-12-28 11:53:19 +01:00
David Sidrane dc8c6ea5e5 White space fixes 2016-12-21 08:34:21 +01:00
Daniel Agar c17c8884d1 implement MAV_CMD_DO_LAND_START 2016-11-19 15:48:10 +01:00
Daniel Agar 8ac4dd04ae implement MAV_CMD_MISSION_START 2016-11-06 15:24:34 +01:00
Daniel Agar 7b03bce416 Navigator mission FOH use previous loiter altitude 
-the previous item altitude wasn't valid if switching from LOITER ->
MISSION
-fixes #5395
 2016-09-26 23:11:08 +02:00
Daniel Agar 2a15578f8d FW implement MAV_CMD_DO_GO_AROUND 2016-08-06 20:56:53 +02:00
sander 9398a4819f Only check mission when needed 2016-08-06 20:40:41 +02:00
Julian Oes 3e87ec5153 navigator: mission check refactor 
The mission feasability checker was called with the same arguments
twice which made it hard to understand when a mission is marked valid.

The mission check should run in these two cases:
- When initializing (if home comes up) if there is already a mission saved.
- When the mission gets updated.
 2016-08-06 20:39:56 +02:00
Lorenz Meier 37230f4c5d Revert "navigator: mission check refactor" 
This reverts commit a956429c4c.
 2016-08-05 22:10:34 +02:00
Julian Oes a956429c4c navigator: mission check refactor 
The mission feasability checker was called with the same arguments
twice which made it hard to understand when a mission is marked valid.

The mission check should run in these two cases:
- When initializing (if home comes up) if there is already a mission saved.
- When the mission gets updated.
 2016-08-05 10:17:06 +02:00
sander 26c8df0eb9 Sanitize vtol_takeoff behavior 2016-04-02 21:29:26 +01:00
sander 31862be420 Workitem handling for land 2016-04-02 21:29:26 +01:00
sander 903a0cd689 Vtol takeoff/land handling in work items 2016-04-02 21:29:25 +01:00
sander 8d8c3f9683 Implement forced VTOL landing 2016-04-02 21:29:25 +01:00
sander a713fd4197 Implemented VTOL_TAKEOFF and VTOL_LAND commands 2016-04-02 21:29:25 +01:00
Andreas Antener d9cabde13e reset mission after vehicle was in mission and then disarms 2016-03-27 12:25:47 +02:00
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
Andreas Antener dfb31f2252 finish moving to waypoint after a back 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 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
sander fdcfb7c7c6 Mission feasibility fixes 
- Fixes https://github.com/PX4/Firmware/issues/3656
- Fixes https://github.com/PX4/Firmware/issues/3648
- Corrected spelling on method
 2016-02-04 20:44:35 +01:00
Andreas Antener 4b9a793c8f properly handle takeoff waypoint when not currently at takeoff location 2016-01-07 22:24:32 +01:00
Thomas Gubler 2af066bc6a guard against invalid yawmode values 2015-12-28 16:49:09 +01:00
Lorenz Meier 3c8411d7ed Navigator: Fix return value typo for abs altitude 2015-12-22 13:28:58 +01:00
Lorenz Meier 253b8f50ce Load missions correctly after restart. Fixes #2564 2015-07-17 20:35:07 +02:00
Lorenz Meier 41f535ae26 navigator: Include distance to first waypoint in mission check, provide warning feedback 2015-06-15 17:28:05 +02:00
Lorenz Meier 174f4d27f3 Navigator: output new mission status 2015-06-15 17:28:05 +02:00
Lorenz Meier 7540aa6b87 Navigator: Make logic using previous and current altitudes consistent 2015-06-11 21:05:38 +02:00
Simon Wilks e9bcc0a262 Add yaw modes that define multirotor heading behaviour during missions. 2015-01-31 11:22:01 +01:00
Ban Siesta 180e17de33 navigator: report using mission result if a DO_JUMP waypoint has been changed 2014-12-19 23:38:55 +00:00
Lorenz Meier 2722921b30 Fixed function name of mission modification logic, attributed @DrTon 2014-10-05 12:30:29 +02:00
Thomas Gubler 3cebfd4045 Merge remote-tracking branch 'upstream/master' into takeoff_fix 
Conflicts:
	src/modules/navigator/mission.cpp
 2014-10-05 10:55:12 +02:00