Roman
d4c87d62f1
fixed code style
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Signed-off-by: Roman <bapstroman@gmail.com >
2016-11-21 07:29:21 +01:00
tumbili
b2410460a5
made position controllers handle estimator state resets
2016-11-21 07:29:21 +01:00
Lorenz Meier
7be71459f5
Offboard control ( #5816 )
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* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix.
* Add altitude hold option using Z position control, while doing velocity control on vx and vy.
* Fix style and rebase issues
2016-11-07 12:09:41 +01:00
Beat Küng
c8a79d2443
mc_pos_control_main: remove <functional> include
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Avoid including <functional> which can cause problems on NuttX
2016-10-24 10:22:48 +02:00
Julian Oes
032f4df3de
mc_pos_control: revert gain change
2016-10-23 16:25:15 +02:00
Julian Oes
72e46e7ed0
mc_pos_control: jump quicker
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In SITL, it still takes a while until a vehicle lifts off, so it seems
sensible to raise this jump gain a bit.
2016-10-23 16:25:15 +02:00
Julian Oes
ff415a4f1d
mc_pos_control: correctly initialize landed state
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Since orb_copy is guarded with a orb_check, we ended up not having the
corrent landed state in the beginning which could lead to some
unexpected behaviour on takeoff.
2016-10-23 16:25:15 +02:00
Julian Oes
2fff2ab9ac
Add switch for landing gear, pass it to actuators
2016-10-20 23:17:05 +02:00
Lorenz Meier
3696e7722a
Code style adjustments
2016-10-19 10:17:41 +02:00
Lorenz Meier
a12780c88f
Remove attitude setpoint matrix from attitude setpoint topic
2016-10-19 10:17:41 +02:00
Andreas Antener
f3b5c243e5
UT: added method to test float values
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MC pos control tests: added tests to all configs that include them
2016-10-10 23:05:44 +02:00
Andreas Antener
9a219da9c2
Refactored cross sphere line tracking and added a unittest to verify correct operation
2016-10-10 23:05:44 +02:00
Andreas Antener
c2e0246650
MC pos control: realize when we are on the trajectory but passed the target waypoint
2016-10-10 23:05:44 +02:00
Julian Oes
8ff237c69f
Remove size optimization for individual modules
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It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
Andreas Antener
e1e410783a
tailsitter: correctly use roll/pitch inputs when optimal recovery is enabled
2016-09-13 14:32:00 +02:00
Mark Whitehorn
a054fb1e04
fix altitude setpoint bug ( #5409 )
2016-09-03 12:33:36 +02:00
Andreas Antener
5eaf104318
fixed optimal recovery condition
2016-08-10 22:47:26 +02:00
Andreas Antener
853a5b77fd
disabled attitude setpoint change in MC controller when optimal recovery is active
2016-08-10 22:47:26 +02:00
Andreas Antener
9087ef5990
only recalculate rotation matrix and quaternion when not in velocity control
2016-08-10 22:47:26 +02:00
Andreas Antener
ae533b01b6
removed unused code
2016-08-10 22:47:26 +02:00
Daniel Agar
4049ec2e96
mc_pos_control fix and enforce code style
2016-08-07 10:40:17 +02:00
Lorenz Meier
c76c8fda04
MC pos control: Drop default position controller gain
2016-08-06 11:50:08 +02:00
Lorenz Meier
a38263b8e7
Enforce enough braking power when users set higher horizontal speeds
2016-07-31 17:43:15 +02:00
tumbili
998579befc
mc pos control: zero yaw setpoint move rate in attitude setpoint topic
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- fixed bug where a non-zero yaw setpoint move rate could make the drone
yaw around in non-manual modes
Signed-off-by: tumbili <roman@px4.io >
2016-06-30 16:42:51 +02:00
Andreas Antener
5dcc62d8f9
allow yaw setpoint offset to be reduced once maxed out
2016-06-30 14:30:59 +02:00
Andreas Daniel Antener
705a08bbbd
do not modify attitude setpoint in velocity controlled mode ( #4905 )
2016-06-25 10:59:50 +02:00
Julian Oes
d9d5d9d9e4
mc_pos_control: run the loop without position data
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By running the loop in mc_pos_control without successfully polling on
position data, we still copy the manual input over so that
mc_att_control can consume it. This allows to fly in manual mode without
GPS and no position estimate.
2016-06-15 13:34:27 +01:00
Lorenz Meier
1e9fae8301
MC pos control: Be more efficient
2016-05-29 16:27:14 +02:00
Roman Bapst
02ba3317e9
WIP: Manual attitude setpoint for large heading errors ( #4564 )
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* mc pos control: in manual mode calculate attitude setpoint
such that it reflects the users intuition of roll and pitch
for any given heading error
* added some comments on the new manual attitude setpoint generation
* make calculation shorter
2016-05-19 15:28:04 +02:00
Jimmy Johnson
59296e0a49
adding user parameters, simplifying dynamic gps filter, adding yaw smoothing
2016-05-16 15:12:50 -07:00
Jimmy Johnson
38b4278998
minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error
2016-05-16 15:11:57 -07:00
Lorenz Meier
623ef6d67c
MC pos control: Use default initializers
2016-05-13 10:34:47 +02:00
Daniel Agar
331456f831
mc_pos_control_params.c param metadata
2016-05-11 12:29:54 -04:00
Lorenz Meier
c31c29097d
Rename params, add transitional support
2016-05-10 09:27:00 +02:00
Adyasha Dash
468b0b25de
added different parameters for ascent and descent rates
2016-05-10 09:18:40 +02:00
Lorenz Meier
45a5f2aaa4
MC vel control: Better defaults, better min and max gains
2016-05-04 22:49:36 +02:00
Lorenz Meier
9b1e4c42de
Multicopter: Clarify speed params
2016-05-01 18:28:01 +02:00
Lorenz Meier
388d29baec
MC pos control: Show normalized units properly
2016-04-25 09:35:58 +02:00
Benoit Landry
95faba391a
accel control in pos controller
2016-04-22 10:31:52 +02:00
James Goppert
0f0f354acd
Added warning for MPC_ALT_MODE.
2016-04-15 11:02:32 -04:00
James Goppert
f905276958
Added mpc_alt_mode.
2016-04-14 17:52:28 -04:00
James Goppert
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
Julian Oes
1f44fb1efd
commander: internalize system status bools
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Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.
Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
2016-04-11 18:01:47 +02:00
Lorenz Meier
dd0d1f001e
MPC velocity controller: Reduce gain to stabilize control loop
2016-04-08 21:25:55 -07:00
Lorenz Meier
737ad045b2
Fix up formatting in mc pos control
2016-03-27 12:10:57 +02:00
Jimmy Johnson
6ff1b2d896
Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid
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booleans in setpoint struct
2016-03-27 12:10:57 +02:00
Jimmy Johnson
3aaad68c76
fixed position tracking overshoot
2016-03-27 12:10:57 +02:00
Jimmy Johnson
dfc2d9b5e0
more clean up
2016-03-27 12:10:57 +02:00
Jimmy Johnson
8829db8844
code clean up complete
2016-03-27 12:10:57 +02:00
Jimmy Johnson
01e971b342
Tests
2016-03-27 12:10:57 +02:00
Roman