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733 Commits
Author SHA1 Message Date
Beat Küng d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
Beat Küng 86463e4ec7 Flight Tasks: add new trajectory smoothing flight task & library 
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
 2018-11-06 22:17:00 +01:00
James Goppert c642025339 vehicle_attitude only based yaw control fix (#10803) 
* Add attitude sub to mc_pos_control for yaw usage.

* Initialize pos control _states struct.

* Remove unnecessary init for struct in mc pos ctrl.

* Only use att topic for yaw setting in FlightTask.
 2018-11-06 12:03:13 -05:00
Roman 50724bce86 mc_pos_control: support VTOL transitions again 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Dennis Mannhart 3b92d49b64 replace + with && 2018-11-05 21:54:19 +01:00
Dennis Mannhart 6a0a9c92fb PositionControl: 
- set integral states and setpoint of reference state to 0
- set thrust to NAN if it will be computed from position and velocity control
 2018-11-05 21:54:19 +01:00
Thunder 662c206ceb fix ControlMath.cpp mathematical derivation error (#10796) 2018-11-01 10:13:59 -04:00
Mara Bos 10c20b38ad Fix many format strings. 
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
  (Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
 2018-10-27 12:44:51 +02:00
Dennis Mannhart 304e00f158 ALTITUDE_THRESHOLD lower to 0.3 meters 2018-10-16 11:13:00 -04:00
Dennis Mannhart 511563d4ac mc_pos_control: enable control in xy during smooth-takeoff from ground but limit tilt 2018-10-16 11:13:00 -04:00
Dennis Mannhart 3329d69d05 mc_pos_control: replace const with constexpr 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4627d5d6e4 mc_pos_control_main smooth takeoff: enable position-xy/yaw control once above 0.5m from takeoff reference 2018-10-16 11:13:00 -04:00
Dennis Mannhart 345d3278d1 mc_pos_control smooth takeoff: if velocity is valid, the control velocity in xy during takeoff 2018-10-16 11:13:00 -04:00
Dennis Mannhart 4b70584cf4 mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise 
just keep thrust vector pointing upward
 2018-10-16 11:13:00 -04:00
Dennis Mannhart dbd1e1432a mc_pos_control: for sanity distinguish between velocity and position setpoint during 
smooth-takeoff. This is only required if someone writes a FlightTask where both position
and velocity setpoints are finite
 2018-10-16 11:13:00 -04:00
Dennis Mannhart c3ba2687ac FlightTask: if not in air, reActivate the task which will set the setpoints to current 
vehicle state.
 2018-10-10 10:30:48 -04:00
Dennis Mannhart 1f0d559d65 PositionControl: check and set _skip_controller flag at the end of the setpoint update 2018-10-10 10:29:46 -04:00
Dennis Mannhart 2f833a26d1 mc_pos_control: check if position-control setpoint update succeeded. 
refactor use_obstacle_avoidance method
 2018-10-10 10:29:46 -04:00
Beat Küng 431bcbe642 MPC_THR_HOVER: reduce minimum from 20% to 10% 2018-10-09 12:09:07 +02:00
Beat Küng 48f5f8faa5 mc pos control: add MPC_THR_CURVE param 
The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.
 2018-10-09 12:09:07 +02:00
Beat Küng eb30b5b73e mc_pos_control_params: remove unused MPC_MANTHR_MAX params 2018-10-04 15:09:02 +02:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Beat Küng 079a43238f mc_pos_control: print Failsafe message only once when entering failsafe 2018-09-28 08:59:22 +02:00
Beat Küng 720b3307d8 mc_pos_control: limit flight task init failure printf's 
There were cases where the console was continuously spammed with activation
failure messages.
 2018-09-28 08:59:22 +02:00
Beat Küng ff69158836 mc_pos_control: add missing orb_unsubscribe 2018-09-28 08:59:22 +02:00
Beat Küng f7b65c577b mc_pos_control: refactor to use ModuleBase 2018-09-28 08:59:22 +02:00
Roman ad88ef14e1 weathervane: use a single parameter to enable 
- in auto mode we always run weather vane
- in manual model we just use it in position control mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 96f3feb088 weathervane: get rid of passive strategy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 0e835cb498 Weathervane: pass quaterionon as constant reference 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman ccaeb58708 WeatherVane lib: address review comments 2018-09-19 08:27:07 +02:00
Roman ce7272a39c WeatherVane: calculate rotation matrix directly when updating 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman d6b6a1d0b3 addressed comments from review 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 4ad11484ca mc_pos_control: moded weathervane parameters to weathervane lib 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Roman 8abcf2defa mc_pos_control: use weathervane library to make vehicle turn into relative wind 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-09-19 08:27:07 +02:00
Martina Rivizzigno 21f6ca4a1f mc_pos_control: fix desired trajectory waypoint. (#10372) 
- The first waypoint contains the vehicle current position and the desired velocity setpoint
 2018-08-31 17:28:15 -04:00
Daniel Agar 223dacee64 multicopter position controller use const references 2018-08-31 14:37:49 -04:00
Daniel Agar d131fea899 vehicle trajectory limit unnecessary updates and reduce logging (#10347) 
- fixes #10345
 2018-08-30 09:21:13 -04:00
Dennis Mannhart e2e8d6d135 mc_pos_control_main: fix comment and remove line that is not used 2018-08-30 09:27:48 +02:00
Dennis Mannhart 72f1fca55c mc_pos_control: lower LOITER_TIME_BEFORE_DESCEND from 1 second to 0.2 2018-08-30 09:27:48 +02:00
Dennis Mannhart 81c5025ad8 mc_pos_control: enter FlighttaskFailsafe if Flighttask wants to be started, but all of 
the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.
 2018-08-30 09:27:48 +02:00
Dennis Mannhart 06c10f61c1 mc_pos_control: go into Failsafe only after 1 second flighttask.update() continous to fail 2018-08-30 09:27:48 +02:00
alessandro 74785f75bd ControlMath: Initialize vehicle_attitude_setpoint 2018-08-29 17:41:11 +02:00
Dennis Mannhart 3ff8cd33a1 mc_pos_control: smooth takeoff requires current position as reference 2018-08-28 10:14:54 +02:00
Martina Rivizzigno 854e4ef3de mc_pos_control_main: fix typo (#10274) 2018-08-20 10:56:43 -04:00
ChristophTobler b14839ab2b mc_pos_ctrl: send vehicle cmd if task fails and task should be switched 
without this tasks will be switched all the time and the drone starts driftig
 2018-08-16 09:48:59 +02:00
Dennis Mannhart a9d83b77de ControlMath: math optimization 2018-08-15 16:19:51 +02:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina da2191b721 mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance 2018-08-09 16:38:47 -04:00
Martina 0694abf916 mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance 
active
 2018-08-09 16:38:47 -04:00