df58e161d1
Trajectory auto - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
a2d5485c7f
Trajectory manual - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
a2e9d9ffce
AutoSmoothVel - Handle NAN in velocity and position properly
2019-01-17 17:55:37 +01:00
3d42c495aa
FlightTaskOrbit: clip radius to range
2018-12-19 18:22:08 +01:00
25de837c23
FlightTaskOrbit: fix rotation direction in telemetry
2018-12-18 14:40:07 +01:00
8b419efa2c
FlightTaskOrbit: fix rotation direction from command
2018-12-18 14:40:07 +01:00
25aa2b9c8c
orbit: fix telemetry message content
2018-12-18 14:40:07 +01:00
f11465bb26
orbit: publish uorb message
2018-12-18 14:40:07 +01:00
c659d2bcc2
mixer: minor refactoring to reduce header include dependencies
...
- avoid including <px4_defines.h> from the math headers
- avoid driver include <drivers/drv_mixer.h> from the mixer
2018-12-13 09:50:07 +01:00
2c06cb71c8
FlightTask: use convetion for definition of the landing gear default value
2018-12-10 16:17:23 +01:00
9ee3d79a96
FlightTask Manual: Gear react only on switch changes and not states
2018-12-10 16:17:23 +01:00
f4fc0cd291
FlightTAsk AutoMapper: Adapt to new message
2018-12-10 16:17:23 +01:00
be7416c823
FlightTask Auto: Adapt to new message and rename variable
2018-12-10 16:17:23 +01:00
1412e0494c
FlightTask AutoMapper: Use deploy gear information
2018-12-10 16:17:23 +01:00
66f85ff9ae
FlightTask Auto: Save deploy gear information
2018-12-10 16:17:23 +01:00
aaddb845c4
FlightTask: Add initialisation of the landing gear
2018-12-10 16:17:23 +01:00
de185726b3
vehicle constraints: remove landing gear
...
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
2018-12-10 16:17:23 +01:00
6dbed6636d
FlightTasks: Add interface for landing gear
2018-12-10 16:17:23 +01:00
bf9a18a200
FlightTask: Add interface for landing gear
2018-12-10 16:17:23 +01:00
94d4f0391a
FlightTaskAuto: fix newline at end of file
2018-11-30 09:30:00 -05:00
be4900f61d
FlightTaskAutoMapper2: remove speed_at_target
2018-11-30 09:30:00 -05:00
b3cde5ac44
FlightTaskAutoLine: replace NAV_ACC_RAD with _target_acceptance_radius
2018-11-30 09:30:00 -05:00
c97b2a3071
FlightTaskAuto: move method getVelocityFromAngle to FlightTaskAutoLine
2018-11-30 09:30:00 -05:00
370371767f
FlightTaskAutoLine: ensure that desired speed along track does not exceed maximum speed at threshold to target
2018-11-29 12:32:56 +01:00
053494c535
use only one parameter and enable parameter change in flight. clean up code
2018-11-20 14:11:33 +01:00
dd45fa6541
change feature name from CollisionAvoidance to CollisionPrevention
2018-11-20 14:11:33 +01:00
81ec6c5b1e
ColisionAvoidance: move instantiation to FlightTask
2018-11-20 14:11:33 +01:00
db514fe441
Add a collision avoidance library which uses range data
2018-11-20 14:11:33 +01:00
330941c1fc
FlightTaskManualAltitude: initialze yaw setpoint with NAN
...
Also update some comments.
In case we activate the task and don't have a locked yaw, we should
initialize the yaw setpoint with NAN to avoid any abrupt changes.
2018-11-13 09:30:18 +01:00
2b7d3bd088
flight tasks: move weather vane yaw handler from Altitude to Position task
2018-11-13 09:30:18 +01:00
36ee0297ee
FlightTask.hpp: minor code cleanup
2018-11-13 09:30:18 +01:00
ca7acae904
mc stabilized mode: move from mc_pos_control to mc_att_control
...
- better in terms of dependencies:
- the position controller code depended on position topics for yaw
- mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
especially important since Stabilized is often used as a fail-safe flight
mode.
2018-11-13 09:30:18 +01:00
4e2bf27da6
FlightTaskAuto set WaypointType from position setpoint types
2018-11-11 10:21:41 -05:00
90cee2d5ea
Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff)
2018-11-06 22:17:00 +01:00
c3a4fff0cd
Auto traj - generate heading from trajectory velocity vector if possible
2018-11-06 22:17:00 +01:00
7205e8f359
Auto traj - Add Trajectory logging
...
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
2018-11-06 22:17:00 +01:00
2847ce20b8
Auto traj - Add parameter for gain of trajectory controller
2018-11-06 22:17:00 +01:00
2c63388fb7
Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task
2018-11-06 22:17:00 +01:00
0209fa00bf
Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks
2018-11-06 22:17:00 +01:00
67c0846068
Vel smooth - Improve position lock/unlock detection
2018-11-06 22:17:00 +01:00
d9edcfdc06
Trajectory - format style
2018-11-06 22:17:00 +01:00
aa586ca327
Trajectory - Overload integrate function to allow for custom integration period
2018-11-06 22:17:00 +01:00
7073187a48
Trajectory - Add getters for current position and velocity. Move some getters to public section
2018-11-06 22:17:00 +01:00
6a7ce651bc
Trajectory - Add position lock-unlock logic and proper initialization from controller feedback
2018-11-06 22:17:00 +01:00
84665672ad
Vel smooth - Change jerk scheduling strategy
2018-11-06 22:17:00 +01:00
ab7e4436b3
Vel smooth - Add Z trajectory
2018-11-06 22:17:00 +01:00
787d82c9e6
VelocitySmoothing: simplify the API & fix style
2018-11-06 22:17:00 +01:00
d8cb6bb834
mc_pos_control_params: update jerk params (limits + defaults + description)
2018-11-06 22:17:00 +01:00
22780efcd0
Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between.
2018-11-06 22:17:00 +01:00
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
bresch