170f0032fd
updated to master (solve merge conflicts)
2015-11-06 12:18:31 +01:00
85605f72f2
Merge pull request #2814 from PX4/mc_pos_guard
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MC position controller: Guard against invalid setpoints
2015-11-06 09:17:05 +01:00
a567b9956f
fix position hold logic
2015-11-02 16:11:24 +01:00
601da2818b
do not set position setpoint too early
2015-11-01 10:13:55 +01:00
dd59409e31
updated to master (solved merge conflicts)
2015-10-27 09:26:27 +01:00
0106be3e89
Added local position estimator.
2015-10-24 20:34:33 +02:00
efe82194af
ported control state attitude into mc_pos_ctrl
2015-10-16 16:03:25 +02:00
b3f912ecc1
reset position setpoint when in velocity control mode
2015-10-16 12:38:53 +02:00
8133f8d616
disable pos/alt controllers when following velocity setpoints in offboard mode
2015-10-16 11:13:52 +02:00
44bb50e9ea
separate _DZ parameter to XY and Z. this allows disabling pos hold for XY and not Z
2015-10-16 11:13:52 +02:00
9c49b30118
run position controller in main_task, otherwise position setpoints will not be followed
2015-10-16 11:13:52 +02:00
42ccc654b5
fix float comparison to 0.0f
2015-10-16 11:13:52 +02:00
da3087e54c
expose pos-hold parameters (also allows different behaviours)
2015-10-16 11:13:52 +02:00
324c27b941
velocity control implemented: tested in SITL under manual mode
2015-10-16 11:13:52 +02:00
759d2a3dff
mc position control:
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- directly use commanded velocity for control
- use position error to derive desired velocity when in position hold mode
2015-10-16 11:13:52 +02:00
104f38eea8
MC position controller: Guard against invalid setpoints
2015-10-15 22:38:58 +02:00
f1cc601ca8
L1 -> unit, L1 easily confused with L1 norm
2015-10-06 17:15:08 -04:00
9e1713eb9f
constantly reset altitude and yaw setpoint in mc pos control when not in rotary wing mode
2015-08-24 10:38:33 +02:00
f7e4a4852d
Reset the altitude setpoint.
2015-08-24 10:38:33 +02:00
044097afbb
mc_pos_controller: fix logic for att sp publication
2015-08-13 22:58:32 +02:00
d786fd4a1b
mc pos reset yaw when vtol transitions
2015-08-12 20:33:17 +02:00
04f55ce784
vtol fixes:
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- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
2015-08-12 20:33:17 +02:00
ea7ae7d019
Merged beta into master
2015-08-01 16:58:02 +02:00
d94f2aa407
MC pos control: Use separate params for manual control
2015-07-22 17:12:43 +02:00
116bd9a03e
MC pos control: Code style fixes
2015-07-18 11:37:12 +02:00
234990fbe4
Merge branch 'release_v1.0.0' of github.com:PX4/Firmware
2015-07-02 01:00:06 +02:00
5982eaaf34
MC pos control: Enforce minimum throttle in manual attitude control mode only if not landed, else default to idle throttle
2015-06-30 09:51:03 +02:00
b72ac1428c
Merge pull request #2481 from PX4/mc_yawfix
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MC yawfix
2015-06-28 23:29:57 +02:00
064c02a817
MC controller: Update use to new uORB API
2015-06-30 15:46:40 +02:00
50ba1f7365
merged release_v1.0.0 into master
2015-06-30 15:30:45 +02:00
ba68b70b0b
MC pos control: Comment style fixes
2015-06-27 10:53:00 +02:00
0fe01f6eb8
MC pos control: Fix manual yaw handling to not reset yaw in extreme angle conditions
2015-06-27 10:17:15 +02:00
dcb680f9d6
VTOL: only publish attitude setpoint if in correct mode
2015-06-25 22:08:52 +02:00
454becdae5
Merged release_v1.0.0 branch into master
2015-06-25 21:45:17 +02:00
426b961abd
MC pos control: Fix mavlink output
2015-06-22 09:58:40 +02:00
460c6bcf57
MC att control demand: Require a higher minimum throttle
2015-06-15 21:56:44 +02:00
c9fefe236b
Merged release into master
2015-06-13 11:06:01 +02:00
dedd16e36e
Modified velocity saturation to maintain direction.
2015-06-12 10:58:33 +02:00
adbccfaa1c
Saturate velocity command for mc_pos_control.
2015-06-12 10:58:20 +02:00
f6dc9c9727
multicopter manual attitude control: Leave some margin for yaw control
2015-06-05 22:45:07 +02:00
1ca05aaa64
orb_advert_t changed to void * and checks changed to nullptr
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The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-27 14:42:49 -07:00
a734fc96d1
extensive orb_advert_t fixes
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The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.
The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.
Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-27 14:41:33 -07:00
36f5d47ed9
Merge remote-tracking branch 'upstream/master' into linux
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Signed-off-by: Mark Charlebois <charlebm@gmail.com >
Conflicts:
src/modules/commander/gyro_calibration.cpp
src/modules/mavlink/mavlink_ftp.cpp
2015-05-16 15:04:38 -07:00
abe61a3d7e
Added missing return on error
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When mc_pos_control_main.cpp was ported to posix one error condition
retuned 0 instead of 1.
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-14 08:32:51 -07:00
f6bf6c89ff
ported mc_pos_controller
2015-05-14 14:58:23 +02:00
1d544e028d
mc_pos_control: always update previous velocity to avoid spikes due to differentiation
2015-05-07 15:04:59 +02:00
5cf8efcc60
copy quaternion setpoint into attitude setpoint topic
2015-05-07 12:36:50 +02:00
c5237f7f6f
Removed extra abstracton layer in systemlib
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The calls to task_spawn_cmd, kill_all, and systemreset were wrappers
around the px4_{task_spawn_cmd|kill_all|systemreset} implementations.
Removed the wrappers and changed all calls to the px4_ equivalents.
NuttX specific code was moved into px4_tasks.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com >
2015-05-06 14:43:11 -07:00
b1c0176f42
MC pos control: Reduce stack
2015-04-26 14:33:56 +02:00
2e824bbeea
fix incorrect argc < 1 check for no arguments
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-requiring arguments should be argc < 2
2015-04-18 12:02:58 +02:00
Youssef Demitri