bresch
dc38930bb2
AutoSmoothVel: desynchronize XY from Z for small changes in speed
...
This fixes the issue that makes the drone slow-down even in straight
lines due to the Z component being constrained to a really small value
2020-03-26 08:31:09 +01:00
Matthias Grob
eb3b0f6b55
mathlib: get rid of now duplicate sign() function
...
Instead use the one that was copied to the matrix library in
https://github.com/PX4/Matrix/pull/116/
2020-03-17 10:01:42 +01:00
Julian Kent
e7aa899746
AutoLineSmoothVel: don't use _velocity_setpoint for constraints
...
Unfortunately the constraints cannot be implemented using the
_constraints because the controller uses that directly. This
causes discontinuities in the velocity and/or accel at various
points of the flight. In particular this was used in Takeoff.
Instead this was done by changing target accel/velocity in the
jerk-optimal velocity planner for Z.
2020-02-18 13:59:58 +01:00
Matthias Grob
1484dfed6a
FlightTasks: remove deprecated AutoLine mission task
2020-01-06 15:39:07 +01:00
Julian Kent
bb410ca0db
Fix compile error, save some bytes by removing redundant checks
2020-01-06 15:39:07 +01:00
Julian Kent
af961f2391
Avoidance interface should be a stop point
2020-01-06 15:39:07 +01:00
Julian Kent
33702be3e4
Fix bad assumption: _position_setpoint is normally at _target
2020-01-06 15:39:07 +01:00
Julian Kent
603a993380
Improve comments
2020-01-06 15:39:07 +01:00
Julian Kent
75d7a049c1
Use the new trajectory constraints to synchronize and limit velocities
2020-01-06 15:39:07 +01:00
Julian Kent
025c044530
Add trajectory constraints helpers
2020-01-06 15:39:07 +01:00
Daniel Agar
7996ee496c
lib: name folders consistently
2019-11-13 09:29:21 -05:00
bresch