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
b2af9c3f58
FlightTasks: error to char string message
2018-07-20 09:26:18 +02:00
Dennis Mannhart
1099dd8c7d
FlightTaskOffboard: first commit similar in logic to legacy code
...
FlightTaskOffboard: ensure supported offboard setpoints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
dca378fbfd
FollowMe: legacy implementation. NOTE: FOLLOW-ME is already broken on legacy code.
2018-07-20 09:26:18 +02:00
Dennis Mannhart
51d4c1f305
FlightTasks: add getter method for constraints
2018-07-20 09:26:18 +02:00
Dennis Mannhart
fbe8a558b2
FlightTaskIndex: add AutoLine
2018-07-20 09:26:18 +02:00
Dennis Mannhart
6e62beb560
FlightTaskAuto: abstract class for mapping triplets to quadruple
...
FlightTaskAuto: add type that corresponds to triplet type
FligthTaskAuto: set all setpoints if invalid in xy
FlightTaskAuto: cast triplet type to WaypointType
FlightTaskAutoLine: class for px4 legacy auto
FlightTaskAutoLine: methods prototype
FlightTaskAuto: change sp to wp (=Waypoint)
add params
FlightTaskAutoLine: follow waypoints along line based on flight state
2018-07-20 09:26:18 +02:00
Beat Küng
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
Matthias Grob
309237c4a2
FlightTasks: replace setpoint setters with members
...
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
2018-04-05 07:30:12 +02:00
Matthias Grob
8b4471d842
FlightTasks: comment out mavlink command processing
...
because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
2018-04-05 07:30:12 +02:00
Matthias Grob
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
2018-04-05 07:30:12 +02:00
Dennis Mannhart
13eb79ffb8
FlightTasks: fix class name
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ac6ed74063
Add FlightTaskManualPositionSmooth
2018-04-05 07:30:12 +02:00
Dennis Mannhart
39c77546d3
FlightTaskManualAltitudeSmooth: create taks
2018-04-05 07:30:12 +02:00
Dennis Mannhart
3b4870b2c2
FlightTaskManual: define as abstract class
2018-04-05 07:30:12 +02:00
Dennis Mannhart
dcdf4d50a0
FlightTasks: add stabilized and fix switchTask for Altitude and Position
2018-04-05 07:30:12 +02:00
Dennis Mannhart
26a5eae7b1
FlightTasks: add FlighttaskManualPosition
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ea61af3164
FlightTaskManualAltitude: added to lib
2018-04-05 07:30:12 +02:00
Matthias Grob
a00c3e4024
FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value
2018-04-05 07:30:12 +02:00
Matthias Grob
6070d72308
FlightTasks: Various review refactoring
2018-04-05 07:30:12 +02:00
Matthias Grob
fd93e55527
FlightTaks: prevent running a new task with default parameters because they got rejected
2018-04-05 07:30:12 +02:00
Matthias Grob
d9c7e6321f
FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
2018-04-05 07:30:12 +02:00
Matthias Grob
c500221894
FlightTasks: move methods of the class header into the cpp
2018-04-05 07:30:12 +02:00
Matthias Grob
efd240904f
FlightTasks: added possibility to apply task parameters from the vehicle command
2018-04-05 07:30:12 +02:00
Matthias Grob
b1f24da05e
FlightTasks: enable mavlink command handling for switching tasks including acknowledgement
2018-04-05 07:30:12 +02:00
Matthias Grob
e5d237088c
FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
2018-04-05 07:30:12 +02:00
Matthias Grob
888a63c001
FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
2018-04-05 07:30:12 +02:00
Matthias Grob
1906b5b635
FlightTasks: remove all remaining unnecessary semicolons
2018-04-05 07:30:12 +02:00
Matthias Grob
5efb298ed9
FlightTasks: use forced update just after initialization
2018-04-05 07:30:12 +02:00
Beat Küng
737f7df6b8
Subscription & SubscriptionArray: add forcedUpdate() methods
...
Can be used to immediately get & use the data, as needed for the flight
tasks.
2018-04-05 07:30:12 +02:00
Matthias Grob
071b09c65d
FlightTasks: initialize task state based on subscriptions after the SubscriptionArray was initialized
2018-04-05 07:30:12 +02:00
Beat Küng
9b571abb47
FlightTasks: add SubscriptionArray class that contains all subscriptions
...
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
2018-04-05 07:30:12 +02:00
Beat Küng
b5ecf9824d
flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations
...
In addition, we will need some shared data structure for the uorb
subscriptions.
2018-04-05 07:30:12 +02:00
Matthias Grob
99eb051c0f
FlightTasks: adapt POSIX convention to return negative values on error
2018-04-05 07:30:12 +02:00
Matthias Grob
e597a9c0a1
FlightTasks: fix review comments
2018-04-05 07:30:12 +02:00
Matthias Grob
e49f80eaa8
FlightTasks: switched output setpoint to reference getter, FlightTask holds it's data
2018-04-05 07:30:12 +02:00
Matthias Grob
d48ba8be72
FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
2018-04-05 07:30:12 +02:00
Matthias Grob
582990c0af
FlightTasks: revised task switching algorithm to catch errors during activation of a new task and make it more readable
2018-04-05 07:30:12 +02:00
Matthias Grob
6c0e7654ed
FlightTasks: added handling for switching to the already active task and success feedback
...
removed and added comments
2018-04-05 07:30:12 +02:00
Matthias Grob
4d05193ad7
FlightTasks: switched to a block hierarchy with parameter names like TSK_ORB_RADIUS in mind
2018-04-05 07:30:12 +02:00
Matthias Grob
f2250c1952
FlightTasks: made a FlightTask inherit from SuperBlock to have Block::Subscription s
...
FlightTask Manual: subscription made setpoint conversion according to vehicle attitude work
2018-04-05 07:30:12 +02:00
Matthias Grob
a8a2b4b6f3
FlightTasks: switched output position setpoint to be pointer based
...
changed "NULL"-pointers to "nullptr" for better compliance
2018-04-05 07:30:12 +02:00
Matthias Grob
28f4d18062
FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight
...
it's a draft and only works for velocity setpoints oriented in NED frame yet
# Conflicts:
# src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
2018-04-05 07:30:12 +02:00
Matthias Grob
a9d0990bb8
FlightTasks: added a temporary hardware switch for task switch testing
2018-04-05 07:30:12 +02:00
Matthias Grob
88bf40e3cb
FlightTasks: added simple task switching with possibility do disable FlightTasks completely
2018-04-05 07:30:12 +02:00
Matthias Grob
8da1d3b16e
FlightTasks: give every FlightTask access to prepared stick input and position state
2018-04-05 07:30:12 +02:00
Matthias Grob
225f99af16
FlightTasks: created an array for all tasks and a method to set the general input pointers for all of them
2018-04-05 07:30:12 +02:00
Matthias Grob
32a1ff733d
FlightTasks: switch input from pointers in parameters passed on every run to private pointers of the base class with safety getter and setter
2018-04-05 07:30:12 +02:00
Matthias Grob
b52f541492
FlightTasks: added timer in base class that counts from activation on including possibility to reset in subclass
2018-04-05 07:30:12 +02:00
