Daniel Agar
d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields
2021-03-09 10:36:34 -05:00
Daniel Agar
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
Lorenz Meier
4c5d2363d4
Rover control: Use roll sticks
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It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
2021-02-14 11:17:28 +01:00
Jaeyoung-Lim
fdd9b3ea51
Add support for stabilized flight mode for rovers
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This commit adds support for stabilized flight mode for rovers, which enables the rover tracking a fixed heading that is set with a manual input
2021-02-14 11:17:28 +01:00
Jaeyoung-Lim
3c12573e93
Use uORB::Subscription for rover_pos_control
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Modernize rover position control
2021-02-14 11:17:28 +01:00
Lorenz Meier
ec2cf70276
Rover position controller: Modernize implementation
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This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
2021-02-14 11:17:28 +01:00
Daniel Agar
1981519aad
L1 position controller: use double precision floating point for all lat/lon
2021-02-12 21:59:56 +01:00
Daniel Agar
e56dfe6497
rover_pos_control: revert sensor_combined purge
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- sensor_combined is only used for scheduling in this module under certain circumstances and should be reviewed and replaced
- fixes https://github.com/PX4/Firmware/issues/15628
2020-09-01 21:09:33 -04:00
Daniel Agar
53b3dfa64e
rover_pos_control: remove unused sensor_combined subscription
2020-08-23 17:38:27 -04:00
Matthias Grob
e9eae1bd76
Refactor: Name manual_control_setpoint the same way everywhere
2020-06-22 12:06:27 -04:00
ealdaz
c96b5246ff
Improved Hold behaviour
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Added local position as a valid source of position
2020-05-13 13:08:41 +02:00
flbernier
45e88aa8d3
Correct Ki and Kd inversion in rover pid_set_parameters
2020-04-17 08:18:10 +02:00
Matthias Grob
eb3b0f6b55
mathlib: get rid of now duplicate sign() function
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Instead use the one that was copied to the matrix library in
https://github.com/PX4/Matrix/pull/116/
2020-03-17 10:01:42 +01:00
Daniel Agar
a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)
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* attitude_estimator_q: get velocity from local position (if available)
2020-03-11 23:57:43 -04:00
Jannik Beyerstedt
4ce03dfc1e
Add support for offboard ActuatorControl set points to RoverPositionControl ( fixes #13192 ) ( #13314 )
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* fix formatting
* RoverPositionControl: Support Actuator Control Setpoints (fixes #13192 )
* RoverPositonControl: remove control modes, that aren't currently implemented
* RoverPositionControl: use new Publication API
2019-11-20 15:01:51 +01:00
Jannik Beyerstedt
bbc028a9e9
RoverPositionControl: make offboard attitude usable without GPS
2019-11-19 10:05:25 +01:00
Jannik Beyerstedt
38103654e9
RoverPositionContro: Enable driving backwards in attitude control
2019-11-17 11:29:45 +01:00
JaeyoungLim
b999581d2f
Rover: Handle velocity frames correctly for offboard velocity control
2019-11-05 16:29:04 -05:00
Jaeyoung-Lim
1951e416b1
Enable rover attitude setpoint
2019-11-03 09:54:22 -05:00
Daniel Agar
6f1e132286
clang-tidy: enable readability-redundant-control-flow and fix
2019-10-28 10:50:31 -04:00
JaeyoungLim
2fc5789d68
Support offboard velocity setpoints for rover ( #13225 )
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* Enable velocity control for rover
* Address comments
* Use pid for speed control
* Calculate steering commands correctly
* Use local velocity estimates to avoid global position dependency
2019-10-24 10:40:20 +02:00
Daniel Agar
c8e59c4e39
parameter_update use uORB::Subscription consistently
2019-09-29 10:49:03 -04:00
JaeyoungLim
950dbc1d2e
Rover: Enable Offboard support for Rover position control
2019-08-21 12:04:19 -04:00
Daniel Agar
a917f22b65
sensors: create vehicle_acceleration module ( #12597 )
2019-08-07 05:05:48 -04:00
Timothy Scott
80f2603b17
Fixed timing of rover pos control
2019-07-25 10:53:39 -04:00
Timothy Scott
2ed8ebf889
rover_pos_control: refactor to ModuleBase and use C++ Param API
2019-07-23 11:16:52 +02:00
Timothy Scott
2ed00c9cb6
Rover: Rewrote gnd_pos_control and removed gnd_att_control ( #12239 )
2019-07-11 09:39:13 -04:00
