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45 Commits
Author SHA1 Message Date
Daniel AgarandRomanBapst c01fabaf11 FW move altitude first order hold (FOH) and loiter to position special cases from navigator to position controller 
Co-authored-by: RomanBapst <bapstroman@gmail.com>
 2020-10-06 16:57:12 -04:00
TSC21 5b151a5df7 navigator: mission feasibility checker: check for a takeoff waypoint on mission on specific conditions 2019-02-27 13:25:47 +01:00
Matthias Grob be108a33f8 mission_params: remove MIS_YAWMODE reference 
This parameter was removed in d704a2d675 and should
not be referenced anymore.
 2019-01-23 22:08:32 +01:00
Dennis Mannhart d704a2d675 mission_param: remove MIS_YAWMODE 2018-08-03 08:24:34 +02:00
Lorenz Meier d8164377a8 Navigator: Move mission param into mission params 
This is important for the compile scope.
 2018-01-22 15:56:42 +01:00
Nicolas de Palezieux 7ae3884944 heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs 
ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
 2018-01-22 15:56:42 +01:00
Daniel Agar 916d6a15fd Mission merge offboard + onboard and simplify 2018-01-14 12:53:53 +01:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
Julian Oes 787931f04f navigator: check distances between waypoints 
Instead of just checking whether the first waypoint is too far away from
home it makes sense to also check between waypoints.
This can prevent
- flyaways due to user errors, or
- catch the corner case where a takeoff waypoint is added to a mission
  and therefore the first waypoint is not too far away, however, the
  subsequent waypoints are still too far away.
 2017-10-18 08:42:20 +02:00
Nicolas de Palezieux a6ce2b320c mission: add heading towards ROI mode for multicopters 2017-09-08 12:50:15 -04:00
sanderux e8a84b4faa Typo 2017-08-09 10:35:44 +02:00
sanderux a2ec771f78 Widen first waypoint max setting for FW 2017-08-09 10:35:44 +02:00
ChristophTobler bc406a122e disable min loiter altitude 2017-06-15 09:18:35 +02:00
Daniel Agar ed1b442065 mission require valid landing after DO_LAND_START 2017-04-20 14:41:01 -04:00
Andreas Antener 7dcba260a7 Fix meta data for added boolean parameters 2016-12-28 11:53:19 +01:00
Andreas Antener e0fc0a847c Mission: 
- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
 2016-12-28 11:53:19 +01:00
Julian Oes 4160b65edb navigator: change default min takeoff alt to 2.5m 
Fixedwing aircraft will override this with fw.defaults anyway.
 2016-10-23 16:25:15 +02:00
Lorenz Meier 45cc79fbf7 VTOL and fixed wing: Move parameters that belong to the navigator into its parameter definition space 2016-05-21 10:51:38 +02:00
Daniel Agar be3348d770 mission_params.c param metadata 2016-05-13 21:03:40 -04:00
Daniel Agar c5d53c4ee6 mission_params.c param metadata 2016-05-11 12:30:04 -04:00
Jimmy Johnson 38c40d5601 fixing var change after rebase, setting min mission takeoff altitude to 10m for safety 2016-03-27 12:10:57 +02:00
Daniel Agar 6888545037 remove @unit enum 2016-03-25 20:33:25 -04:00
Daniel Agar 70a68def83 params correct boolean tag 2016-03-25 20:25:17 -04:00
Daniel Agar c748eb6757 cleanup mission params 2016-03-25 16:28:51 -04:00
Daniel Agar 7a9427bc34 param remove empty @unit 2016-03-14 09:12:34 +01:00
Daniel Agar 2fbf607341 mission param @unit 2016-03-14 09:12:34 +01:00
Lorenz Meier cab895004d Navigator: DDifferentiatee between min loiter alt and min takeoff alt. Reduce both by default 2016-03-14 09:05:22 +01:00
Andreas Antener 570fb97163 updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly 2016-02-15 23:29:47 +01:00
Andreas Antener eb5b8a32ee transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem 2016-02-15 23:29:38 +01:00
Andreas Antener bb4decfa8b implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default 2016-02-15 23:26:28 +01:00
Lorenz Meier 9b758e7285 Set minimum takeoff alt to 2.5 meters 2015-11-14 12:07:19 +01:00
Lorenz Meier e20c683896 Navigator: Advoid no symbols warning 2015-10-14 22:34:24 +02:00
Lorenz Meier c9fefe236b Merged release into master 2015-06-13 11:06:01 +02:00
Lorenz Meier 1d58190bf9 Default altitude mode to first order hold (line between waypoints) and allow missions to be further away to still successfully start them 2015-06-04 13:31:12 +02:00
Lorenz Meier d906fb8f31 Merged master into linux 2015-05-19 21:00:02 +02:00
Lorenz Meier 11564a0f14 Mission yaw mode: Default to facing the next waypoint 2015-05-19 17:03:28 +02:00
Mark Charlebois 9758112e31 Use px4_config.h instead of nuttx/config.h 
Modified code to use OS independent header file for config settings.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-20 10:55:41 -07:00
Simon Wilks e9bcc0a262 Add yaw modes that define multirotor heading behaviour during missions. 2015-01-31 11:22:01 +01:00
Thomas Gubler 5a35d20b7b FOH mode for altitude 
This introduces a parameter for the navigator. When enabled the navigator
publishes a first order old (FOH) type altitude setpoint instead of the
default zero order hold. For takeoff and landing the FOH mode is not
active. The FOH altitude is calculated such that the sp reaches the
altitude of the waypoint when the system is at a horizontal distance
equal to the acceptance radius. Also the altitude setpoint will only
converge towards the waypoint altitude but never diverge.
 2014-09-03 21:30:56 +02:00
Lorenz Meier c3666a5504 Widen default first WP radius 2014-08-01 23:18:43 +02:00
Lorenz Meier 5616a07bf3 Final default values and more comments for params 2014-07-12 14:29:56 +02:00
Anton Babushkin a29f7cad39 navigator: reject mission if the first waypoint is too far from home 2014-07-07 15:18:54 +02:00
Julian Oes 85d7fdc741 navigator: param enhancements 2014-06-06 18:13:45 +02:00
Julian Oes 425b454a87 navigator: parameter cleanup 2014-06-04 15:33:09 +02:00
Julian Oes 93295861c5 navigator: missions work again, loiter when finished or no mission available or sd card removed works as well 2014-06-04 01:07:50 +02:00