dc60bc8766
mc_pos_control: enable flight tasks
...
instantiate flight tasks and the refactored position controller class
only use the new functionality if a temporary parameter is set for testing
2018-04-05 07:30:12 +02:00
0dcad42f57
mc_pos_control: refactor, indent control block
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individual commit for the indentation because otherwise
the diff gets unreadable. this indentation is made because
afterwards the entire legacy position control functionality
is in an else case.
2018-04-05 07:30:12 +02:00
5ee136fe10
mc_pos_control: refactor, move landed thrust reduction into function
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and make it use matrix library for flight task compatibility
# Conflicts:
# src/modules/mc_pos_control/mc_pos_control_main.cpp
2018-04-05 07:30:12 +02:00
fabf214bca
mc_pos_control: refactor, move smooth takeoff velocity into a function
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# Conflicts:
# src/modules/mc_pos_control/mc_pos_control_main.cpp
2018-04-05 07:30:12 +02:00
d5f90a1503
FlightTasks: add library to cmake configurations
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all the ones with mc_pos_control need the library, we should use cmake dependencies!
2018-04-05 07:30:12 +02:00
8b4471d842
FlightTasks: comment out mavlink command processing
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because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
2018-04-05 07:30:12 +02:00
cf48ceb428
Revert "Subscription remove unused instance class member"
...
This reverts commit cf2d794da9
2018-04-05 07:30:12 +02:00
88cf2aebc6
PositionControl: comment fix + unused parameter removal
2018-04-05 07:30:12 +02:00
421aeb69d8
FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based
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on vehicle rotation in yaw
2018-04-05 07:30:12 +02:00
ab8527cc8f
FlightTaskManualStabilized: limit manual yaw rate in flighttask
2018-04-05 07:30:12 +02:00
03b3026e18
PositionControl: remove unused parameters
2018-04-05 07:30:12 +02:00
67900512ab
PositionControl: remove legacy yaw logic
2018-04-05 07:30:12 +02:00
017576262c
FlightTaskManual: replace yaw with yaw_sp for rotation
2018-04-05 07:30:12 +02:00
ec79b2f8c8
ControlMath: don't consider sign when vector length is 0
2018-04-05 07:30:12 +02:00
bd37c274c6
PositionControl: parameter naming fix
2018-04-05 07:30:12 +02:00
59bddf339a
ManualSmoothingXY: brake with large default jerk max
2018-04-05 07:30:12 +02:00
25c33d18b0
FlightTaskSport: just scale velocity septoint
2018-04-05 07:30:12 +02:00
fc62df856d
ControlMath: reference to by value
2018-04-05 07:30:12 +02:00
16d6ac6ad1
FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly
2018-04-05 07:30:12 +02:00
7f406aa251
FlightTaskManualSmoothingZ: remove empty space
2018-04-05 07:30:12 +02:00
6538a7e88c
FlightTaskSport: replace rotation by axis angle
2018-04-05 07:30:12 +02:00
5bd2afa7be
FlightTaskManualPositionSmooth: remove unused mehthods and member variables
2018-04-05 07:30:12 +02:00
d6fe2159ae
FlightTaskManualPosition: remove update method and old member variable setpoints
2018-04-05 07:30:12 +02:00
a7f4859698
FlightTaskManualAltitudeSmooth: remove unused member methods/variables
2018-04-05 07:30:12 +02:00
c15b114cad
FlightTaskManualAltitude: remove member setpoints and update method
2018-04-05 07:30:12 +02:00
4b49b0ed7a
FlightTaskManualStabilized: update method that sets all member setpoints
2018-04-05 07:30:12 +02:00
2db2ef824b
FlightTaskManual: move all setpoints into base class
2018-04-05 07:30:12 +02:00
2e9cb659c9
FlightTaskManual: method to reset all members setpoints to NAN
2018-04-05 07:30:12 +02:00
52eeb02549
empty setpoint add NAN for thrust, add comment
2018-04-05 07:30:12 +02:00
fb2ce062e4
FlightTask: rebse fix for empty setpoint
2018-04-05 07:30:12 +02:00
f2f5f41641
FlightTaskManualSmoothing: change name of method
2018-04-05 07:30:12 +02:00
01073d36e5
FlightTaskManualPosition: use axis angle to rotate into world frame
2018-04-05 07:30:12 +02:00
d22af4679d
FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold
2018-04-05 07:30:12 +02:00
6fb9ca3b0c
FlightTasks: corrected comment and sorted out unnecessary includes
2018-04-05 07:30:12 +02:00
e1a81c7978
FlightTaskManual: remove unnecessary activate method
2018-04-05 07:30:12 +02:00
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
2018-04-05 07:30:12 +02:00
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
2018-04-05 07:30:12 +02:00
f8e4e82bba
snapdragon: Applied camelCasing
2018-04-05 07:30:12 +02:00
01ecb05341
snapdragon: changed constexpr to const in FlightTask so that it would compile
2018-04-05 07:30:12 +02:00
50c1eba392
snapdragon: fixed compiler shadow warning, function name was identical as a variable name
2018-04-05 07:30:12 +02:00
cc41d8ccab
snapdragon: added missing includes
2018-04-05 07:30:12 +02:00
ca046af8ca
clang-tidy: don't check for pass-by-value optimization
2018-04-05 07:30:12 +02:00
d64b59b95f
FlightTaskUtility: remove duplicate slewrate
2018-04-05 07:30:12 +02:00
c1bb0cbdcc
smoothing xy: remove unused variable
2018-04-05 07:30:12 +02:00
23b294b434
tests smoothz: fix fabsf and consider rest once previous velocity is zero
2018-04-05 07:30:12 +02:00
59f3de192f
ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped
2018-04-05 07:30:12 +02:00
13eb79ffb8
FlightTasks: fix class name
2018-04-05 07:30:12 +02:00
bb00f6d737
FlightTaskManualPosition: update to new smoothing interface
2018-04-05 07:30:12 +02:00
4f17fb1303
ManualSmoothingXY: detect alignement based on body frame; do direction change only if not yawspeed is demanded
2018-04-05 07:30:12 +02:00
40d77d2234
FlightTaskManualStabilized: remove second ;
2018-04-05 07:30:12 +02:00
Matthias Grob