c5e0bf1c2f
uORB combine VTOL FW and MC virtual topics ( #7008 )
2017-04-09 13:17:20 -04:00
3b743fbbe9
MC position control: Smoother takeoff
...
This patch ramps up the throttle to hover throttle instead of a fixed value and limits the vertical takeoff speed to the value set in the parameter. This should ensure smoother, slower takeoffs, in particular in autonomous flight modes.
2017-04-09 17:22:58 +02:00
4ff3fb4dee
mc_pos_control: if takeoff setpoint in auto mode, then do not enter ground contact
2017-04-09 17:19:28 +02:00
419c474d53
mc_pos_control: manual input temporary yaw fix
2017-03-30 16:43:43 +02:00
be500723cd
mc_pos_control: gradual vel fix for slope
2017-03-22 15:21:34 +01:00
20a47a1a72
mc_pos_control: limit if just xy distance close to target
2017-03-22 15:21:34 +01:00
f9551c12de
mc_pos_control: param fix and gradual vel fix
2017-03-22 15:21:34 +01:00
72fb7a5062
mc_pos_control: added gradual landing speed logic
...
depending on two altitudes that can get set as parameter
the logic linearly slows down from higher land altitude 1 to slower land altitude 2
2017-03-22 15:21:34 +01:00
7434bcc693
mc_pos_control: fixed rebase and refactor errors
2017-03-22 15:21:34 +01:00
cd8cc1beaa
mc_pos_control: use blockparam, change variable name, delete unused variables
2017-03-22 15:21:34 +01:00
4c4f214ec7
mc_pos_control: target_threshold value change
...
mc_pos_control: reorder if statement
mc_pos_control: add get function for cruising speed
2017-03-22 15:21:34 +01:00
0d6f994145
mc_pos_control: slow down in auto when close to target
...
mc_pos_control: move limit vel xy after velocity controller
2017-03-22 15:21:34 +01:00
8e5a573cb3
mc_pos_control: add default only if there is no previous setpoint
2017-03-22 15:21:34 +01:00
fd3889b5a6
mc pos control: auto handling such that it does not use slewrate when goint to pos
2017-03-22 15:21:34 +01:00
5e2f18ebaa
mc_pos_control: added separate velocity control setpoint slewrate for deceleration
...
to improve the smooth user experience while accelerating
but not have any delay when braking
2017-03-22 15:21:34 +01:00
b32e5e7ec0
mc_pos_control: fixed all pull request complaints
...
mainly changing parameters to BlockParams, reorder them and comment
2017-03-22 15:21:34 +01:00
470c3fdc06
mc_pos_control: refactoring only in manual velocity setpoint generation
2017-03-22 15:21:34 +01:00
713ba45876
mcpos_control: remove duplicate deadzone parameters
2017-03-22 15:21:34 +01:00
eec757915c
mc_pos_control: switch manual vertical/z velocity curve to expo with deadzone
2017-03-22 15:21:34 +01:00
8f1e851911
Stick to velocity fix ( #6825 )
...
* mc_pos_control: use just float for vel and cruise in xy
* mc_pos_control: stick map saturate magnitude to 1
* mc_pos_control: take minimum cruising speed for auto
* mc_pos_control: cruise speed triplet higher than from mc_pos_control
mc_pos_control: fix if for cruise in auto
* mc_pos_control: use PX4_ISFINITE criteria
2017-03-21 07:58:47 +01:00
c9643cb075
mc_pos_control: delete leftover from transitional changes for vel_max_z ( #6822 )
2017-03-20 10:06:29 +01:00
31aff0b6c0
mc_pos_control: change yaw setpoint to yaw ( #6854 )
2017-03-20 10:05:33 +01:00
ca9393eb97
mc_pos_control: fix parameter description of expo for QGC parsing
2017-03-16 11:42:27 +01:00
e892a51afb
mc_pos_control: delta_t needs to be positive
2017-03-01 11:46:23 +01:00
7f54f891c1
land_detector: set max height to 100
2017-02-27 22:54:19 +01:00
6939583650
mc_pos_control: _run_altitude if close to max altitude
2017-02-27 22:54:19 +01:00
b887654d69
mc_pos_control: fix limit_altitude function
2017-02-27 22:54:19 +01:00
ca84cc7439
mc_pos_control: delete max altitude, which is not set by landdetector
2017-02-27 22:54:19 +01:00
c8690fd072
mc_pos_control: limit altitude
...
mc_pos_control: delete spaces
mc_pos_control: cleanup and threshold for velocity control to altitude control when close to max altitude
2017-02-27 22:54:19 +01:00
fe4ea6dd63
VTOL mc_pos reset internal state during FW mode
2017-02-25 17:57:05 +01:00
8fd27fddcd
mc_pos_control: moved responsibility of the x,y stick deadzone to a mathematical function
...
to prevent a setpoint step when moving the stick over the border of the deadzone
and to enable very small inputs even from a control stick that needs a big deadzone
2017-02-25 11:05:53 +01:00
3a358422c4
mc_pos_control: change sign for close to ground + style fix
2017-02-23 23:26:17 +01:00
de9d05c292
mc_pos_control: uorb home_postition subscription
2017-02-23 23:26:17 +01:00
cbc54c9917
mc_pos_control: only swithc to velocity control from hold_engaged when user moves stick
2017-02-22 20:48:40 +01:00
d7683e97a3
MC pos control: More landing handling
2017-02-22 09:33:12 +01:00
c55fa9dd3f
MC pos control: add option to use takeoff yaw
2017-02-22 09:21:20 +01:00
4ddc7e22fb
MC pos ctrl: Force slow landing speed below min loiter altitude
2017-02-21 22:01:20 +01:00
1d370f3470
MC pos control: Improve landing handling
2017-02-21 21:57:18 +01:00
20604989bb
mc_pos_control: have same acceleration max for xy and z
2017-02-21 21:50:00 +01:00
2788cf8ffc
mc_pos_control: manual stick input fix; deletion of unusued function
2017-02-21 16:47:46 +01:00
57b7c4fc3d
mc_pos_control: code style fix
2017-02-06 19:10:42 +01:00
f0978fc9e9
mc_pos_control: set position setpoint during transition based on veloicyt and acceleration
2017-02-06 19:10:42 +01:00
c141d4ca3f
mc_pos_control: turn off thrust xy when in position hold and altitude hold and thrust z is low
2017-02-06 19:10:42 +01:00
c2be4b2b29
mc_pos_control: added exponential curve to manual x,y velocity setpoint
...
controlled by parameter MPC_XY_MAN_EXPO that is disabled (0) by default
2017-02-02 21:24:05 +01:00
f718b3a97a
mc_pos_control: limit slewrate different in up and down direction
2017-02-02 09:04:59 +01:00
7e5f09f408
clang-tidy performance-unnecessary-value-param
2017-02-01 22:15:50 -05:00
6631e72d6f
clang-tidy modernize-redundant-void-arg
2017-02-01 22:15:50 -05:00
e927f3e040
clang-tidy modernize-use-nullptr
2017-02-01 22:15:50 -05:00
ec2467d4a5
MPC controller: Do not initialize to zero dt but a likely default dt
2017-02-01 20:06:31 +01:00
299c40f627
mc_pos_control: timestamp fix for vel_sp
2017-02-01 18:30:31 +01:00
Daniel Agar