66 Commits

Author	SHA1	Message	Date
Daniel Agar	c66fc85630	fw_pos_control_l1: move to WQ with uORB callback scheduling	2019-08-07 23:13:21 -04:00
Daniel Agar	e43e37cc46	fw_pos_control_l1 add new simple min groundspeed	2019-08-07 18:50:42 +02:00
Daniel Agar	a917f22b65	sensors: create vehicle_acceleration module (#12597)	2019-08-07 05:05:48 -04:00
Daniel Agar	2ad12d7977	sensors: create vehicle_angular_velocity module (#12596) ... * split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl	2019-08-06 12:55:25 -04:00
Timothy Scott	a134da6e12	Removed is_rotor_wing, replaced with vehicle_type	2019-06-13 10:04:26 +02:00
Daniel Agar	4bef573497	fw_pos_control_l1 move to new uORB::Subscription	2019-06-06 20:00:02 -04:00
Julian Oes	2ac8841f35	vtol/fw/mc: fix VTOL enum shadowing ... This changes the enums used for various VTOL states to enum classes which makes them type-safe and should avoid shadowing. This change was motivated by a Clang warning about shadowing of the enum const TRANSITION_TO_FW which was declared twice, once in vtol_type.h and once in standard.h. This change only removes the shadowing but presumably these enums could be cleaned up and consolidated further.	2019-05-29 23:51:10 -04:00
Daniel Agar	9bad61b86b	Improve robustness to bad and lost airspeed data (#11846)	2019-04-30 03:08:23 -04:00
Roman	2bd8b517c5	FwPositionControl: don't do takeoff help for vtol ... - takeoff help is used for fixed wings, it increases the altitude setpoint after a launch. A vtol does not need this as it's already sufficiently high up in the air. Signed-off-by: Roman <bapstroman@gmail.com>	2019-04-30 02:45:49 -04:00
Daniel Agar	ec3bc4ee5b	fw_pos_control_l1 reset internal takeoff and landing state when arming	2019-04-03 08:48:30 +02:00
Daniel Agar	45d7165eb3	fw_pos_control_l1 skip wind > max airspeed logic if airspeed invalid ... - cleanup airspeed validity check logic	2019-01-12 14:19:53 +01:00
Alvar Martti	63651da309	FW bug in checking if landing point has been passed ... * the bearing difference between the waypoints and aircraft to landing point should be wrap_pi'ed	2018-12-21 10:03:31 -08:00
Roman Bapst	90bfdb6f0a	VTOL rate control architecture improvements (#10819) ... * attitude and rate setpoint message: use 3D array for thrust demand * FixedWingAttitudeControl: rework airspeed scaling * move airspeed and scaling calculation into separate method * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed	2018-11-21 20:32:40 -05:00
CarlOlsson	82106cc4c1	fw_l1_control: add underscores to perf for consistency	2018-10-22 09:26:06 -04:00
Roman	e17f0802cc	tecs msg: changed flight_path_angle to height rate as clearly we are ... looking at height rates Signed-off-by: Roman <bapstroman@gmail.com>	2018-09-17 10:27:08 -04:00
Daniel Agar	5207c420c3	generic position controller status/feedback message	2018-08-31 14:43:51 -04:00
Philipp Oettershagen	c997159e32	Fixed-wing autoland: Introduce parameter to enable/disable the early activation of the landing configuration	2018-08-24 10:13:07 -04:00
Philipp Oettershagen	20c02ae093	Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments.	2018-08-24 10:13:07 -04:00
Philipp Oettershagen	08ceddaddb	Fixed-wing autoland: ALWAYS flare when close to the ground, independently of the horizontal distance to the land WP. This avoids that we crash into the ground at negative pitch and guarantees that the flare always starts at the same altitude above ground. However, the motor shutoff still depends on the horizontal distance to the LAND WP, thus avoiding that the motor is shut off prematurely	2018-08-24 10:13:07 -04:00
Philipp Oettershagen	4c4f585ad5	Fixed-wing autoland: 1) The landing configuration (flaps, different airspeed) is now already set during the loiter down instead of at the start of the landing approach. This is done to avoid any mode changes (which can cause altitude/airspeed jumps) so close to the gorund. 2) A scaling factor for the TECS throttle time constant was added which allows tighter throttle control during the landing (i.e. close to the ground) than high up in the air	2018-08-24 10:13:07 -04:00
Roman Bapst	8b1381ead9	update ecl l1 and usage for new roll angle setpoint slew rate limit (#10005) ... * added ability to slew rate limit the roll angle output of the l1 controller * FixedWingPositionControl: this avoids the steps in roll angle setpoint which occur when the controller switches to a new waypoint * GroundRoverPositionControl: adapted to new l1 API	2018-08-01 14:01:41 -04:00
TSC21	ca42483794	update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files	2018-07-30 21:40:28 +02:00
Daniel Agar	9a4de09325	sensors remove airspeed negative check	2018-07-16 01:09:19 -04:00
Thomas Stastny	8a7919bcb6	fw att+pos ctrl: use enum for flaps configs	2018-07-11 08:08:13 +02:00
Thomas Stastny	0c3399433d	fw att+pos ctrl: add takeoff flaps setting	2018-07-11 08:08:13 +02:00
Daniel Agar	9fa882119d	fw_pos_ctrl_l1 remove unnecessary orb rate limits	2018-07-05 12:16:44 -04:00
Daniel Agar	cf74166801	double promotion warning fix or ignore per module	2018-07-01 09:36:55 +00:00
Philipp Oettershagen	753ad0e0df	Fixed-wing autoland: Fix bug that could cause a steep pitch increase and thus aircraft stall during the flare (#9674)	2018-06-14 11:29:03 -04:00
Daniel Agar	0e823c82b6	FW landing check if prev valid before using (#9284)	2018-04-21 12:03:46 -04:00
Daniel Agar	d75fd72c02	stop manually defining physical constants	2018-04-19 07:24:58 +02:00
Roman	0f1c9504d5	FixedWingPositionControl: rotate attitude consistenly for tailsitters ... Signed-off-by: Roman <bapstroman@gmail.com>	2018-04-18 16:20:15 +02:00
Daniel Agar	a78ab02144	fw_pos_control_l1 don't store TECS and L1 parameters	2018-04-12 00:46:49 -04:00
Beat Küng	b512d11e54	refactor fw_pos_control_l1: replace BlockParam* with Param* classes ... Also change naming convention: add _ prefix to class attributes	2018-03-22 08:19:08 +01:00
sanderux	d87b7ac7f4	Fix scale application on FW throttle baro compensation	2018-03-20 00:13:36 +01:00
Daniel Agar	b6b7fddb9f	TECS and L1 switch to matrix math library (#9101)	2018-03-19 18:09:54 -04:00
Daniel Agar	7607c71ca8	fw_pos_control_l1 project virtual waypoint to handle landing overshoot	2018-03-14 16:39:19 -04:00
Daniel Agar	d1dca4e74c	fw_pos_ctrl_l1 move takeoff to control_takeoff()	2018-03-14 16:39:19 -04:00
Daniel Agar	c72340e039	fw_pos_ctrl_l1 move landing to control_landing()	2018-03-14 16:39:19 -04:00
Beat Küng	8a5cdac1f4	FixedwingPositionControl: fix ordering of PRINT_MODULE_USAGE_NAME	2018-03-13 17:35:15 +01:00
ToppingXu	e340f6fd7a	FixedwingPositionControl: fix air_gnd_angle judgement condition. ... air_gnd_angle is from acos(), and never return a value that bigger than M_PI_F	2018-03-02 21:57:11 +01:00
Roman	08534588cd	fw_pos_control: get vtol parameter values if vehicle is vtol ... Signed-off-by: Roman <bapstroman@gmail.com>	2018-03-01 12:16:27 -05:00
Daniel Agar	a1f660119c	fw_pos_control_l1 consolidate message updates	2018-02-17 18:11:43 +01:00
Daniel Agar	458d8f7b02	fw_pos_control_l1 move to ModuleBase	2018-02-17 18:11:43 +01:00
Daniel Agar	8b63dbecde	FW controllers initialize vtol_type to a non-valid value ... - tailsitter is vtol type 0	2018-02-11 17:12:45 +01:00
Daniel Agar	370da89573	fw_pos_control fix parameter sanity check (#8521) ... - the sanity check result wasn't being sent to the user and prevents landing slope, runway takeoff, and launch detector parameter updates.	2017-12-26 16:02:31 -05:00
Daniel Agar	fc7c8b4b89	vehicle_status delete engine_failure_cmd	2017-12-27 02:41:10 +08:00
Andreas Antener	4f5d70bbe5	Increase fixed-wing l1 navigation radius limit	2017-11-26 14:43:25 +01:00
sanderux	b305900cae	Scale FW cruise throttle based on baro presure	2017-11-24 16:33:57 +01:00
Daniel Agar	b569a8c2b9	fw_pos_control_l1 increase stack by 110 Bytes (#8348)	2017-11-23 17:09:05 -05:00
Daniel Agar	4416c4ddb3	navigator move parameters out of MissionBlock ... - MissionBlock is an interface with > 10 implementations	2017-10-26 22:43:53 +02:00