Dennis Mannhart
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
...
before applying limits
2018-07-20 09:26:18 +02:00
MaEtUgR
efed766919
FlightTasks: small rebase naming and typo fixes
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e51e1bbe74
mc_pos_control: replace legacy refactor
...
Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.
This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
29fb5089bd
FlightTasks: construct all tasks in constructor
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
2018-07-20 09:26:18 +02:00
Dennis Mannhart
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
...
to position lock.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
65ad6edaf0
ManualSmoothingXY: remove empty lines
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a5e8eb23ad
PositionControl: saturate thrust integral
2018-07-20 09:26:18 +02:00
Dennis Mannhart
5ffcb6af01
PositionControl: set vel_dot to 0 if NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
2018-07-20 09:26:18 +02:00
Dennis Mannhart
92e93639d3
FlightTaskAuto: require valid position in 3D
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
...
distance sensor is used to SENS_FLOW_MINRNG
2018-07-20 09:26:18 +02:00
Dennis Mannhart
80775d588b
vehicle constraints: minimum distance to ground. currently used when distance sensor
...
is available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
ee7d5c3f38
FlightTaskAuto: remove unused member variable
2018-07-20 09:26:18 +02:00
Dennis Mannhart
7b13803e2c
PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust
2018-07-20 09:26:18 +02:00
Dennis Mannhart
f30bf215db
MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e408870857
FlightTaskManual: remove unused override
2018-07-20 09:26:18 +02:00
Dennis Mannhart
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
2018-07-20 09:26:18 +02:00
Dennis Mannhart
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e8620708b3
PositionControl: set states to zero if not valid
2018-07-20 09:26:18 +02:00
Dennis Mannhart
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
afd02aca92
FlightTask: fail activation if required states are not available
2018-07-20 09:26:18 +02:00
Dennis Mannhart
e6f6e2085c
ControlMath: remove false comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
3ea7f8783f
FlightTaskManualAltitude: fix comment
2018-07-20 09:26:18 +02:00
Dennis Mannhart
414f38b677
test_controlmath: work around for internal compiler error: in trunc_int_for_mode, at explow.c:55
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c56ae130a7
test_controlmath remove static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9c7c60ddc8
remove mc_pos_control_tests
2018-07-20 09:26:18 +02:00
Dennis Mannhart
89c266e699
by value to reference
2018-07-20 09:26:18 +02:00
Dennis Mannhart
a0c3c80b37
FlightTaskManualStabilized make reset counter for heading static
2018-07-20 09:26:18 +02:00
Dennis Mannhart
68dd2d739a
ManualSmoothingXY indent
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1317844a94
ManualSmoothingXY fix comments and style
2018-07-20 09:26:18 +02:00
Dennis Mannhart
250afd49a9
ManualSmoothingZ: update comments
2018-07-20 09:26:18 +02:00
Dennis Mannhart
216279b576
FlightTask: activate tasks with setpoints in use
2018-07-20 09:26:18 +02:00
Dennis Mannhart
389f897b04
mc_pos_control: member initialization during deceleration
2018-07-20 09:26:18 +02:00
Dennis Mannhart
46f91154a4
Smoothing: initialize ModuleParam in body of constructor because of compiler error
2018-07-20 09:26:18 +02:00
Dennis Mannhart
9c2ec3c229
PositionControl: add control states structure
2018-07-20 09:26:18 +02:00
Dennis Mannhart
bf15e852ff
style-check
2018-07-20 09:26:18 +02:00
Dennis Mannhart
cfe7d64a42
cmake/configs: remove module test for mc_pos_control
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c6055c979a
systemcmds/tests: add test_controlmath
2018-07-20 09:26:18 +02:00
Dennis Mannhart
90a7d836fc
ControlMath:: add legacy cross_sphere_line method
2018-07-20 09:26:18 +02:00
Dennis Mannhart
c2343589d8
move cross_sphere_line_test method into test_controlmath.cpp
...
remove mc_pos_control_tests since empty
move test_controlmath.cpp into systemcmds/tests directory
2018-07-20 09:26:18 +02:00
