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28,971 Commits 852 Branches 161 Tags
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60 Commits
Author SHA1 Message Date
bresch ddab0ccdf1 VelocitySmoothing - Protect against division by zero and sqrt of a negative number 2019-03-18 08:33:11 +01:00
Daniel Agar 0d170a0eaf FlightTasks VelocitySmoothing initialize member 
- fixes Coverity CID 328485
 2019-02-24 17:10:15 -05:00
bresch 70ddb8049a Traj Smoothing - make format 2019-02-13 20:56:57 +01:00
bresch 1730cd3a69 Velocity Smoothing - Various improvements, cleanup and corner cases fixes 2019-02-13 20:56:57 +01:00
Beat Küng 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
bresch 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
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
Beat Küng 787d82c9e6 VelocitySmoothing: simplify the API & fix style 2018-11-06 22:17:00 +01:00
Beat Küng d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
bresch 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
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
Beat Küng dae7c56109 ManualSmoothing{XY,Z}: remove unused include 2018-10-04 15:09:02 +02:00
Matthias Grob bee6a6b8b0 Refactor: Use new matrix::Vector2f constructor 2018-10-01 08:10:21 -04:00
Daniel Agar acff200f0d FlightTasks safer matrix usage 2018-08-27 16:33:38 -04:00
ChristophTobler 56ea4fa6fa FlightTask StraighLine: check values before dividing 2018-08-12 09:37:05 -04:00
ChristophTobler d3d549b8e6 FlightTask Smoothing: check dt before dividing 2018-08-12 09:37:05 -04:00
ChristophTobler 584838de30 FlightTasks: rename libs to use CamelCase convention 2018-08-08 13:44:49 +02:00
ChristophTobler b68fd5e0a7 Flight Tasks: CMake/folder restructure (no code change) 
put flight tasks in separate folder and create a lib for each
goal is to select tasks for targets (e.g. because of flash issue)
 2018-08-08 13:44:49 +02:00
ChristophTobler 99e58e2923 FlightTask StraightLine: make format 2018-07-24 08:40:05 +02:00
Matthias Grob 7e547e6322 FlightTask StraightLine: use 2D Vector and remove newline 2018-07-24 08:40:05 +02:00
ChristophTobler ccd8a47015 FlightTask StraightLine: set origin and target at the same time 
This avoids issues with reseting/calculating the max vel/acc
 2018-07-24 08:40:05 +02:00
ChristophTobler 9e8c3ff0dc FlightTask StraightLine: check if target and origin are the same 2018-07-24 08:40:05 +02:00
ChristophTobler 8998714130 FlightTask StraightLine: remove unused target reached flag 2018-07-24 08:40:05 +02:00
ChristophTobler 090db6a115 FlightTask StraightLine: set max vel/acc/dec if value is bigger 2018-07-24 08:40:05 +02:00
ChristophTobler c619009364 FlightTask StraightLine: replace powf(x,2) with x*x 
Apparently this is faster
 2018-07-24 08:40:05 +02:00
ChristophTobler 8b3716c0df FlightTask StraightLine: remove 10% safety margin 2018-07-23 12:54:39 +02:00
ChristophTobler 7e0976f0ef FlightTaskStraightLine: fix braking distance corner cases 
check if target vel is bigger than desired vel
accelerate if already inside braking distance but vel is lower
 2018-07-23 12:54:39 +02:00
ChristophTobler e527a51de6 FlightTaskStraightLine: add descriptions for defines 2018-07-23 12:54:39 +02:00
ChristophTobler 37d4f714b2 FlightTaskStraightLine: replace define with parameter 2018-07-23 12:54:39 +02:00
ChristophTobler ebceac5fff FlightTasks: add lib for setpoints on a straight line 2018-07-23 12:54:39 +02:00
Dennis Mannhart 65ad6edaf0 ManualSmoothingXY: remove empty lines 2018-07-20 09:26:18 +02:00
Dennis Mannhart b9d5189fe5 ManualSmoothing: direction change with maximum acceleration 2018-07-20 09:26:18 +02:00
Dennis Mannhart 68dd2d739a ManualSmoothingXY indent 2018-07-20 09:26:18 +02:00
Dennis Mannhart 1317844a94 ManualSmoothingXY fix comments and style 2018-07-20 09:26:18 +02:00
Dennis Mannhart 250afd49a9 ManualSmoothingZ: update comments 2018-07-20 09:26:18 +02:00
Dennis Mannhart 389f897b04 mc_pos_control: member initialization during deceleration 2018-07-20 09:26:18 +02:00
Dennis Mannhart 46f91154a4 Smoothing: initialize ModuleParam in body of constructor because of compiler error 2018-07-20 09:26:18 +02:00
Dennis Mannhart 7d7a2dffbf Smoothing-classes: initialize to parameters 2018-07-20 09:26:18 +02:00
Dennis Mannhart 5ef2a61be5 ManualSmoothingXY: ensure that maximum speed is correctly propagated to the smoothing class 2018-07-20 09:26:18 +02:00
Beat Küng 5eb7d8ec5f flight tasks smoothing: refactor param_find -> Param 
Plus some style fixes
 2018-04-11 07:47:06 +02:00
Beat Küng 398d511fd9 flight tasks smoothing: fix style issues 2018-04-11 07:47:06 +02:00
Dennis Mannhart 59bddf339a ManualSmoothingXY: brake with large default jerk max 2018-04-05 07:30:12 +02:00
Dennis Mannhart 7f406aa251 FlightTaskManualSmoothingZ: remove empty space 2018-04-05 07:30:12 +02:00
Dennis Mannhart f2f5f41641 FlightTaskManualSmoothing: change name of method 2018-04-05 07:30:12 +02:00
Dennis Mannhart d64b59b95f FlightTaskUtility: remove duplicate slewrate 2018-04-05 07:30:12 +02:00
Dennis Mannhart c1bb0cbdcc smoothing xy: remove unused variable 2018-04-05 07:30:12 +02:00
Dennis Mannhart 59f3de192f ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped 2018-04-05 07:30:12 +02:00