7db35337da
use control flag to decide if we enable wv or not
2016-02-15 09:48:37 +01:00
80f8fcbdf6
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:48:37 +01:00
e46824e784
MC pos control: Param meta data
2016-02-14 18:43:58 +01:00
2ff9fd64b1
increased stack sizes for mc and fw pos ctl
2016-02-11 16:53:35 +01:00
38ecec86f7
mc pos control:
...
do not run takeoff code when disarmed
2016-02-11 16:53:35 +01:00
26c635359e
updated some message severities and clarified reset in pos controller
2016-02-08 11:09:11 +01:00
f8f208dbe6
vtol: reset multirotor positon and altitude
...
when not in rotary wing mode
2016-02-08 11:09:11 +01:00
0aff2e6c09
limit takeoff and land velocity to max z velocity
2016-02-02 21:35:18 +01:00
f35e3335be
- only use takeoff strategy when in auto mode
...
- after jumped takeoff set previous vel setpoint such
that thrust setpoint is continuous
2016-01-27 11:47:41 +01:00
ba169ce0b5
do not do jumped takeoff if already in air
2016-01-27 09:55:47 +01:00
5ea5ecf32b
Limit manual yaw command properly. Fixes #3600
2016-01-26 14:08:43 +01:00
9e2dd7aab6
landing without thrust limiting
2016-01-22 11:51:38 +01:00
7a8adaa591
multirotor landinging sudden fall protection:
...
remove condition which made activation of the protection
very unlikely
2016-01-22 11:51:38 +01:00
4614511474
use set takeoff speed
2016-01-21 10:18:13 +01:00
7817924aef
multirotor takeoff:
...
instead of altering the velocity setpoint for the vehicle to takeoff
use the thrust setpoint directly. this does not depend on the tuning of
the velocity loop.
2016-01-21 10:18:13 +01:00
be1db2ced5
quick fix:
...
Remove throttle non-increase condition for landing since this has lead to
quads falling out of the sky.
2016-01-15 16:15:27 +01:00
c0e88e262c
Drop man min throttle to 8% since its a continous user complaint
2016-01-14 23:50:37 +01:00
21b99b408c
Yaw fix: increase threshold
2016-01-11 11:58:13 +01:00
79e7059eaf
Fix yaw when in manual mode during arming
2016-01-11 11:58:13 +01:00
f22c574b87
Integrated cmake_hexagon for qurt build
...
Still a WIP since the IDL file needs to be replace with the
muorb IDL file.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2016-01-10 20:54:26 +01:00
99f4487cc3
allow yawing with 0 throttle, changed condition to not being landed
2016-01-06 08:33:51 +01:00
68c9c4ae0f
better defaults for relevant landing/takeoff parameters
2015-12-28 15:23:20 +01:00
b5f3c2d30d
ramp up jump velocity instead doing a huge step
2015-12-28 15:23:20 +01:00
98bec0e175
also filter acceleration to filter out the bump on the ground on landing
2015-12-28 15:23:20 +01:00
e0405617ef
also don't reset possp if near a loiter sp
2015-12-28 15:23:20 +01:00
ee0aa7b37d
recalculate absolute thrust before limiting
2015-12-28 15:23:20 +01:00
d9878493bd
cleaning up takeoff/landing logic, commenting on magic values
2015-12-28 15:23:20 +01:00
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
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
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
5a009ce4c8
don't throttle up anymore during landing
2015-12-28 15:21:50 +01:00
c32d44d8b4
disable position controller when landed and in manual control
2015-12-28 15:21:50 +01:00
f41f60901d
Control state: Update topic correctly - only if it actually changed and is valid
2015-12-28 15:16:29 +01:00
0f67d3fcd8
removed jerk fix and reset prev horizontal vel sp with current velocity
2015-12-18 15:55:17 +00:00
35df66ce5d
MC pos control: Fix attitude and thrust SP generation
2015-12-18 15:55:16 +00:00
bc3f5daeec
Fix attitude yaw generation, store last acceleration setpoint for all non-velocity / position flight modes.
2015-12-18 15:55:16 +00:00
6053066e60
Limit jerk of all commanded trust in velocity mode so that we never get steps in the attitude response.
2015-12-18 15:55:16 +00:00
6ed702094b
MC pos control: Keep correctly track of velocity and accelerations
2015-12-18 15:55:16 +00:00
f533f6ce19
Store prev velocity at right location
2015-12-18 15:55:16 +00:00
7b06c4afb9
Acceleration limits: Limit at correct location
2015-12-18 15:55:16 +00:00
4f69834761
MC pos control: Add missing previous velocity SP checks
2015-12-18 15:55:16 +00:00
c1e40bdd60
limit maximal desired horizontal acceleration
2015-12-18 15:55:16 +00:00
c0f45ed8a7
use tilt compensation also for position control
2015-12-01 17:14:32 +01:00
d1dc8ed432
if vtol, publish virtual attitude setpoint
...
Conflicts:
src/modules/mc_pos_control/mc_pos_control_main.cpp
2015-11-25 13:28:22 +01:00
d55ccd96c6
let vtol attitude control module publish attitude setpoint during transition
...
Conflicts:
src/modules/commander/commander.cpp
src/modules/fw_att_control/fw_att_control_main.cpp
src/modules/mc_pos_control/mc_pos_control_main.cpp
2015-11-25 13:28:21 +01:00
78ace92530
reset position hold flag
2015-11-24 16:57:19 +01:00
5303a63da0
mc_pos_control: code formatting
2015-11-20 13:16:42 +01:00
ff5db6b1be
fixed alt hold bug
2015-11-20 13:10:46 +01:00
1b640f80fe
MC pos control: Widen manual deadband back to 20%
2015-11-09 23:40:31 +01:00
a6ba6eb2e4
reduce Z control deadband from 40% to 5%
2015-11-08 20:42:17 +01:00
Andreas Antener