Andreas Antener
d9878493bd
cleaning up takeoff/landing logic, commenting on magic values
2015-12-28 15:23:20 +01:00
Andreas Antener
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
Andreas Antener
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
Andreas Antener
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
Andreas Antener
5a009ce4c8
don't throttle up anymore during landing
2015-12-28 15:21:50 +01:00
Andreas Antener
c32d44d8b4
disable position controller when landed and in manual control
2015-12-28 15:21:50 +01:00
Lorenz Meier
f41f60901d
Control state: Update topic correctly - only if it actually changed and is valid
2015-12-28 15:16:29 +01:00
Andreas Antener
0f67d3fcd8
removed jerk fix and reset prev horizontal vel sp with current velocity
2015-12-18 15:55:17 +00:00
Lorenz Meier
35df66ce5d
MC pos control: Fix attitude and thrust SP generation
2015-12-18 15:55:16 +00:00
Lorenz Meier
bc3f5daeec
Fix attitude yaw generation, store last acceleration setpoint for all non-velocity / position flight modes.
2015-12-18 15:55:16 +00:00
Lorenz Meier
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
Lorenz Meier
6ed702094b
MC pos control: Keep correctly track of velocity and accelerations
2015-12-18 15:55:16 +00:00
Lorenz Meier
f533f6ce19
Store prev velocity at right location
2015-12-18 15:55:16 +00:00
Lorenz Meier
7b06c4afb9
Acceleration limits: Limit at correct location
2015-12-18 15:55:16 +00:00
Lorenz Meier
4f69834761
MC pos control: Add missing previous velocity SP checks
2015-12-18 15:55:16 +00:00
tumbili
c1e40bdd60
limit maximal desired horizontal acceleration
2015-12-18 15:55:16 +00:00
tumbili
c0f45ed8a7
use tilt compensation also for position control
2015-12-01 17:14:32 +01:00
tumbili
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
Roman Bapst
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
tumbili
78ace92530
reset position hold flag
2015-11-24 16:57:19 +01:00
tumbili
5303a63da0
mc_pos_control: code formatting
2015-11-20 13:16:42 +01:00
tumbili
ff5db6b1be
fixed alt hold bug
2015-11-20 13:10:46 +01:00
Lorenz Meier
1b640f80fe
MC pos control: Widen manual deadband back to 20%
2015-11-09 23:40:31 +01:00
Mark Whitehorn
a6ba6eb2e4
reduce Z control deadband from 40% to 5%
2015-11-08 20:42:17 +01:00
Youssef Demitri
170f0032fd
updated to master (solve merge conflicts)
2015-11-06 12:18:31 +01:00
Roman Bapst
85605f72f2
Merge pull request #2814 from PX4/mc_pos_guard
...
MC position controller: Guard against invalid setpoints
2015-11-06 09:17:05 +01:00
tumbili
a567b9956f
fix position hold logic
2015-11-02 16:11:24 +01:00
Roman
601da2818b
do not set position setpoint too early
2015-11-01 10:13:55 +01:00
Lorenz Meier
878dc4d7d4
MC pos ctrl: Do not build unused param file
2015-10-29 10:36:54 +01:00
Youssef Demitri
dd59409e31
updated to master (solved merge conflicts)
2015-10-27 09:26:27 +01:00
jgoppert
0106be3e89
Added local position estimator.
2015-10-24 20:34:33 +02:00
Youssef Demitri
efe82194af
ported control state attitude into mc_pos_ctrl
2015-10-16 16:03:25 +02:00
tumbili
b3f912ecc1
reset position setpoint when in velocity control mode
2015-10-16 12:38:53 +02:00
v01d
8133f8d616
disable pos/alt controllers when following velocity setpoints in offboard mode
2015-10-16 11:13:52 +02:00
v01d
44bb50e9ea
separate _DZ parameter to XY and Z. this allows disabling pos hold for XY and not Z
2015-10-16 11:13:52 +02:00
v01d
9c49b30118
run position controller in main_task, otherwise position setpoints will not be followed
2015-10-16 11:13:52 +02:00
v01d
c010962861
change unit of MPC_HOLD_DZ parameter to "%"
2015-10-16 11:13:52 +02:00
v01d
42ccc654b5
fix float comparison to 0.0f
2015-10-16 11:13:52 +02:00
v01d
da3087e54c
expose pos-hold parameters (also allows different behaviours)
2015-10-16 11:13:52 +02:00
v01d
324c27b941
velocity control implemented: tested in SITL under manual mode
2015-10-16 11:13:52 +02:00
tumbili
759d2a3dff
mc position control:
...
- directly use commanded velocity for control
- use position error to derive desired velocity when in position hold mode
2015-10-16 11:13:52 +02:00
Lorenz Meier
104f38eea8
MC position controller: Guard against invalid setpoints
2015-10-15 22:38:58 +02:00
Micah Corah
f1cc601ca8
L1 -> unit, L1 easily confused with L1 norm
2015-10-06 17:15:08 -04:00
Lorenz Meier
fa5071b3c5
Remove module.mk files to prevent confusion of adopters upgrading
2015-10-06 11:23:20 +02:00
James Goppert
1d6b31d196
Switch to cmake build system.
2015-09-07 20:37:45 -04:00
Andreas Antener
9e1713eb9f
constantly reset altitude and yaw setpoint in mc pos control when not in rotary wing mode
2015-08-24 10:38:33 +02:00
Simon Wilks
f7e4a4852d
Reset the altitude setpoint.
2015-08-24 10:38:33 +02:00
tumbili
044097afbb
mc_pos_controller: fix logic for att sp publication
2015-08-13 22:58:32 +02:00
Simon Wilks
d786fd4a1b
mc pos reset yaw when vtol transitions
2015-08-12 20:33:17 +02:00
tumbili
04f55ce784
vtol fixes:
...
- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
2015-08-12 20:33:17 +02:00
Andreas Antener