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2060 Commits

Author SHA1 Message Date
Matthias Grob
c8f3f07ff7 matrix: pull explicit constructors 2019-10-05 11:46:07 -04:00
PX4 Build Bot
5f040fe24c Update submodule ecl to latest Wed Oct 2 20:37:33 EDT 2019 
- ecl in PX4/Firmware (4d0ac1a400cc007af392c99bbfa809d59d3e7ecd): b78429aa60
    - ecl current upstream: f005e0ea8f
    - Changes: b78429aa60...f005e0ea8f

    f005e0e 2019-09-27 kamilritz - Remove deprecated ev_innov_gate param
 2019-10-03 00:26:16 -04:00
PX4 Build Bot
cee8c31649 Update submodule matrix to latest Wed Oct 2 20:37:38 EDT 2019 
- matrix in PX4/Firmware (cb369cb6a75cae71035d72a3bacecce3e109f971): c34e8dc98f
    - matrix current upstream: 973999a4d3
    - Changes: c34e8dc98f...973999a4d3

    973999a 2019-09-23 Matthias Grob - Fix some template type conversions and style
 2019-10-03 00:25:18 -04:00
Daniel Agar
26364d44c9
px4_work_queue: command line status output and shutdown empty queues 
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
 2019-10-02 12:23:17 -04:00
Daniel Agar
0fe271b7f5 CollisionPrevention add more distance_sensor orientations 2019-10-01 21:05:37 -04:00
Daniel Agar
6941077218
FlightTasks: orbit and obstacle test use new uORB::Publication<> 2019-09-30 18:26:01 -04:00
Daniel Agar
045f6233d4
FlightTasks: switch to uORB::Subscription 
- delete SubscriptionArray
 - all FlightTasks are now responsible for updating their own subscriptions (typically in updateInitialize()).
 2019-09-30 18:16:36 -04:00
Daniel Agar
62bc0ab8ad
CollisionPrevention: limit collision warning to every 3 seconds and minor cleanup 
- whitespace and formatting fixes
 - mark locals const for readability
 2019-09-30 10:48:12 -04:00
Daniel Agar
fd67bd0680 uORB: SubscriptionCallback cleanup naming 2019-09-28 13:43:56 -04:00
mcsauder
7b16c3482d Refactor the ll40ls namespace driver methods to more closely match the cm8jl65, mappydot, leddar_one, and other distance sensor driver implementations. 2019-09-27 07:55:53 +01:00
kritz
190c817a9e ekf2: update to latest ecl version [continued] (#13023) 
* ekf2: update to latest ecl version

Includes compatibility changes for renamed variables.

* ekf2: Add write of odometry velocity data

Co-Authored-By: kritz <kritz@ethz.ch>

* ekf2: Modify parameters to enable control of vision velocity fusion

* ekf2: Update to latest ecl with timestamp messages
 2019-09-26 10:21:53 +02:00
Daniel Agar
dedd257433 CollisionPrevention: fix integer rounding (#13028) 2019-09-26 09:45:55 +02:00
Daniel Agar
88fb6f7b8e
cm8jl65: move to PX4Rangefinder and cleanup 
* cm8jl65 split out header and main
* cm8jl65: move to PX4Rangefinder
* PX4Rangefinder: move signal_quality handling to PX4Rangefinder
 2019-09-25 12:52:45 -04:00
Mark Sauder
db8e203a7a Update the Integrator class local variable dt from double to float and utilize the hrt_abstime typedef. (#12935) 2019-09-25 14:41:54 +02:00
Julian Kent
07d656e971
Guidance feature for Collision Prevention (#13017) 
* add guidance

* remove COL_PREV_ANG and replace with COL_PREV_CNG

* safe max ranges per bin

* increase default value for colprev delay to account for tracking delay

* update parameter description

* fix and extend testing

* add handling for overlapping sensor data

* fix decision process for overlapping sensors
 2019-09-24 17:00:04 +02:00
Matthias Grob
6a5ca6e336 FlightTask: use inline assignment initializer for reset_counters struct 2019-09-24 10:34:08 +02:00
bresch
679b1659eb AutoLineSmoothVel - Reorganize functions declarations to match cpp file 2019-09-24 10:34:08 +02:00
bresch
c811cf4784 FlightTask - Move ekf reset counter monitoring logic in the base FlihtTask 
Each child FlightTask can simply implement what it wants to do in case
of an EKF reset event by overriding one of the _ekfResetHandler functions
 2019-09-24 10:34:08 +02:00
bazooka joe
fb3a91cc4f added circuit_breaker_enabled_by_val() 
added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
 2019-09-22 13:55:40 -04:00
PX4 Build Bot
c67a7536d4 Update submodule matrix to latest Sun Sep 22 08:37:30 EDT 2019 
- matrix in PX4/Firmware (8b1f9546aabfe6ab2a0431f1d5af6dcc976d4f59): 60c9c99dcc
    - matrix current upstream: c34e8dc98f
    - Changes: 60c9c99dcc...c34e8dc98f

    c34e8dc 2019-09-17 Matthias Grob - helper: consider matrices with the same NANs and INFINITYs equal
bbaa938 2019-09-17 Matthias Grob - helper: consider NAN equal to NAN such that vectors can be compared exactly
33a6291 2019-09-17 Matthias Grob - Matrix: add proper print function testing
b0b7d72 2019-09-17 Matthias Grob - Multiplication test: fix division resulting in NAN
3747232 2019-09-17 Matthias Grob - LeastSquaresSolver: Fix nasty GCC compile optimization error
5844b0e 2019-09-16 Matthias Grob - Implement one float equality check and use it everywhere
1e80807 2019-09-16 Matthias Grob - test: Add uncovered equality checks with NAN and INFINITE
a374f37 2019-09-16 Matthias Grob - Include helper_functions like all other library components
 2019-09-22 11:34:53 -04:00
bresch
6f3868b5ba ManualVelocitySmoothing - Fix unlock initialization 2019-09-19 17:31:49 +02:00
bresch
0153e1b126 Matrix - Explicitly cast array[3] to Vector3f 
Use .xy() for Vector2 -> Vector3 assignment
 2019-09-19 17:31:49 +02:00
bresch
f405bf506b AltitudeSmoothVel - Use ManualVelocitySmoothingZ class instead of re-implementing the logic 2019-09-19 17:31:49 +02:00
bresch
ce96d98621 ManualVelocitySmoothing - Cosmetic changes (renaming, indentation,..) 
Set the classes as final and set destructor to non-virtual
 2019-09-19 17:31:49 +02:00
bresch
7cdb2364e9 ManualVelocitySmoothingXY - Add simple unit test 2019-09-19 17:31:49 +02:00
bresch
f5d7eb4d87 Refactor FlightTaskManualPositionSmoothVel 2019-09-19 17:31:49 +02:00
bresch
080eedfd02 ManualPositionSmoothVel - Split large function into smaller ones, split XY and Z axes 
Next step is to move as much as possible to a library in order to
reuse the Z axis in the Altitude FlightTask
 2019-09-19 17:31:49 +02:00
Dennis Mannhart
453b6a39e4 TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries 2019-09-19 14:09:44 +02:00
Dennis Mannhart
e6b7062442 TrajMath: replace type placeholder with floats 2019-09-19 14:09:44 +02:00
Matthias Grob
c8d0eba1d2 Update ecl and matrix to safe matrix access 2019-09-18 22:01:36 -04:00
Julian Kent
2d4ecab3b0 Remove unsafe access to .data() and _data in Matrix 2019-09-18 22:01:36 -04:00
Matthias Grob
270e12a4df VelocitySmoothing: refactor local scope t variables instead of array 2019-09-17 09:27:00 +02:00
bresch
da8ac8cafb VelocitySmoothing - Clean up updateTraj function based on Matthias' comments 2019-09-17 09:27:00 +02:00
bresch
b82fa68893 VelocitySmoothingTest - Fix typo and use "zero" instead of "null" 2019-09-17 09:27:00 +02:00
bresch
42cedb7fda VelocitySmoothing - Change direction of "brake" as braking means that 
only the T3 part is required and that the jerk applied during T3 is the
opposite of the one defined by "_direction".
 2019-09-17 09:27:00 +02:00
bresch
8490266be8 VelocitySmoothing - (Re)set _state_init every time _state is (re)set 2019-09-17 09:27:00 +02:00
bresch
654938f6a1 VelocitySmoothing - Cosmetic changes (new lines, reorganize functions), 
regroup both updateTraj functions and edit some comments
 2019-09-17 09:27:00 +02:00
bresch
0b765a1642 AltitudeSmoothVel - Update to use new implementation of VelocitySmoothing 
Remove jerk reduction (not needed in the new implementation)
 2019-09-17 09:27:00 +02:00
bresch
862454827e VelocitySmoothingTest - Test that the trajectory is always within the constraints 2019-09-17 09:27:00 +02:00
bresch
8cc2a7018e VelocitySmoothing - Re-enable time stretch, integrate dt to get local time. 
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
 2019-09-17 09:27:00 +02:00
bresch
c7696488fe VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity 
This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
 2019-09-17 09:27:00 +02:00
bresch
052932fa95 VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class 2019-09-17 09:27:00 +02:00
bresch
c13499e64b test_velocity_smothing - Update test script to use new polynomial evaluation algorithm 2019-09-17 09:27:00 +02:00
bresch
a03cc495ce VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration 
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
 2019-09-17 09:27:00 +02:00
Matthias Grob
d4f984fea5 FlightTaskAutoLineSmooth: Fix comment to be style compliant 2019-09-13 18:10:05 +02:00
bresch
47401d1177 AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs 
This function constrain the absolute value of some value but keeps the original sign.
 2019-09-13 17:46:01 +02:00
bresch
3c5b24037a AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator. 
Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
 2019-09-13 17:46:01 +02:00
bresch
59f54a7fd8 mathlib - Add FLT_EPSILON deadzone in sign computation 2019-09-13 17:46:01 +02:00
Martina Rivizzigno
78279f6587 Unit tests for Obstacle Avoidance interface (#12816) 
* FlighTask: remove legacy definition of empty_trajectory_wapoint

* add unit tests for the ObstacleAvoidance interface
 2019-09-12 14:37:31 +02:00
Julian Kent
39451b811a Do syscall for time once, outside of loop 2019-09-11 12:34:59 -04:00