Daniel Agar
c17c8884d1
implement MAV_CMD_DO_LAND_START
2016-11-19 15:48:10 +01:00
Daniel Agar
a8369c6ac8
FW use loiter to achieve waypoint altitude
...
- fixes #5061
2016-11-05 10:30:36 +01:00
Sander Smeets
39cc75b4a0
Rebase of vtol_land_weathervane patch
2016-11-04 20:29:45 +01:00
Lorenz Meier
05bc9acfb7
navigator: Wrap get time inside into function call and set time inside to zero
...
This ensures that the dual-use of the pitch_min / time_inside field is handled
properly between takeoff and non-takeoff items. Flight tested in SITL.
2016-10-23 16:26:03 +02:00
Lorenz Meier
ff0d7613b1
Add manual seed to dataman hash to allow later incrementing the seed number for incompatible changes
2016-10-23 16:26:03 +02:00
Lorenz Meier
c340974991
Ensure pitch min param is correctly handled
2016-10-23 16:26:03 +02:00
Lorenz Meier
eaae1abdaf
Simplify use of pitch_min
2016-10-23 16:26:03 +02:00
Lorenz Meier
9821499113
navigator / mission item: Compress fields into bitfield
2016-10-23 16:26:03 +02:00
Julian Oes
82f27884df
navigator: fix wrong altitude after takeoff
...
This change fixes a wrong behaviour when a takeoff command is sent.
An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters
Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters
New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
overridden.
2016-10-23 16:25:15 +02:00
Julian Oes
dcd0df7d02
navigator: fix typo
2016-10-23 16:25:15 +02:00
Julian Oes
4f5fa50efb
navigator: fix takeoff jump edge case
...
In the normal sitl `commander takeoff` case, the takeoff jump was never
actually carried out because the default altitude radius is set to 3m
and the takeoff altitude to ~2m which means that the takeoff waypoint is
"reached" immediately.
This works around this edge case by using the altitude between the home
altitude and takeoff altitude divided by 2 as a acceptance radius.
2016-10-23 16:25:15 +02:00
Julian Oes
9842e49dc6
navigator/mavlink: photos and videos at waypoints
...
This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
2016-10-15 12:37:06 +02:00
Beat Küng
55bff206be
mission: add NAV_CMD_DO_SET_ROI & NAV_CMD_ROI
2016-10-07 10:57:26 +02:00
Beat Küng
be4db3c5df
vehicle_command topic: use uorb queuing with length 3
...
Just to make sure we don't lose any messages.
2016-09-07 18:47:12 +02:00
sander
e6834579e5
Use altitude acc rad
2016-08-17 23:58:04 +02:00
sander
7afa21ebb7
Revert altitude acceptance radius to combat overshoot
2016-08-17 23:58:04 +02:00
Daniel Agar
2a15578f8d
FW implement MAV_CMD_DO_GO_AROUND
2016-08-06 20:56:53 +02:00
sander
788f04ea58
Remove debug info
2016-07-30 11:43:52 +02:00
sander
2bca19fc5e
Remove acceptance radius from takeoff altitude for MC
2016-07-30 11:43:52 +02:00
sander
e4f20f98cd
Implement altitude acceptance radius
2016-07-30 11:43:52 +02:00
Daniel Agar
59b4350aa0
implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup
2016-07-12 23:36:05 +02:00
Daniel Agar
7f89994785
use NAV_ACC_RAD for vertical waypoint acceptance ( #4978 )
2016-07-04 21:41:16 +02:00
Daniel Agar
07fa814597
FW vtol landing always forced ( #4939 )
2016-06-30 13:55:47 +02:00
sander
37531c018a
Implement MAV_CMD_DO_CHANGE_SPEED throttle
2016-06-23 09:08:35 +02:00
Jimmy Johnson
38b4278998
minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error
2016-05-16 15:11:57 -07:00
Lorenz Meier
05b19c8e85
Fix yaw handling for land command
2016-05-10 12:09:47 +02:00
sander
3307c71e6d
Additional yaw handling on land
2016-04-21 09:32:33 +02:00
Julian Oes
6abc55c303
navigator: whitespace
2016-04-11 18:01:49 +02:00
Julian Oes
34e504aec5
navigator: fix after rebase
2016-04-11 18:01:49 +02:00
Julian Oes
50c36296fa
navigator: compile fixes after rebase
2016-04-11 18:01:49 +02:00
Julian Oes
05d64b3342
navigator: fix for vehicle status refactor
2016-04-11 18:01:49 +02:00
Julian Oes
1f44fb1efd
commander: internalize system status bools
...
Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
Julian Oes
8e9e9f8a8b
vehicle_status: move vtol_vehicle_status enum
...
It makes more sense to have the VTOL status in its own message.
2016-04-11 18:01:47 +02:00
sander
7338fe889e
Only set virtual waypoint for VTOL_TAKEOFF. Fixes #4193
2016-04-09 13:24:20 +02:00
sander
cbe7bd2198
Set virtual waypoint for VTOL_TAKEOFF item
2016-04-02 21:29:27 +01:00
sander
4fc24dce60
Set correct setpoint type for vtol transitions
2016-04-02 21:29:27 +01:00
sander
dcacefb0d3
Ignore position for VTOL_TAKEOFF
2016-04-02 21:29:26 +01:00
sander
3f256a778d
apply vtol_force_vtol
...
remove debug output
2016-04-02 21:29:26 +01:00
sander
b99e3e0ae2
Wait for VTOL transition command to complete
2016-04-02 21:29:26 +01:00
sander
240c8fbee1
Fix VTOL_LAND to have correct SETPOINT_TYPE
2016-04-02 21:29:26 +01:00
Jimmy Johnson
fbd2edaae5
fixing possible safety issue with altitude
2016-03-27 12:10:57 +02:00
Lorenz Meier
88b2349241
Code style fixes
2016-03-27 12:10:57 +02:00
Jimmy Johnson
f2777cb6ee
making code more robust
2016-03-27 12:10:57 +02:00
Jimmy Johnson
6ff1b2d896
Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid
...
booleans in setpoint struct
2016-03-27 12:10:57 +02:00
Jimmy Johnson
3aaad68c76
fixed position tracking overshoot
2016-03-27 12:10:57 +02:00
Jimmy Johnson
dfc2d9b5e0
more clean up
2016-03-27 12:10:57 +02:00
Jimmy Johnson
8829db8844
code clean up complete
2016-03-27 12:10:57 +02:00
Jimmy Johnson
01e971b342
Tests
2016-03-27 12:10:57 +02:00
Jimmy Johnson
0797c7fc21
velocity smoothing
2016-03-27 12:10:57 +02:00
Jimmy Johnson
69351675b6
follow target mode working
2016-03-27 12:10:57 +02:00
Daniel Agar