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32,993 Commits 852 Branches 161 Tags
e2e72fd81e2f02c28a786e9fb5099284d0f3bd3e
Commit Graph
51 Commits
Author SHA1 Message Date
Lorenz Meier 5e7ff47aac Navigator: Improve code readibility 
This diff does not contain any functional changes but just makes the code more readable and adds comments.
 2020-03-14 17:50:40 +01:00
Lorenz Meier 5936844595 Update to latest mission API 2020-03-14 17:50:40 +01:00
Lorenz Meier b405c7e9bd Navigator: Add ability to wait for a position gate with executing the mission 
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
 2020-03-14 17:50:40 +01:00
Silvan Fuhrer b1d38ee050 Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-08-21 10:08:04 +02:00
Daniel Agar 79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Daniel Agar 83e76ece1c navigator mission block fix get_time_inside() and cleanup helpers 2019-02-06 18:59:11 -05:00
Florian Achermann 84578748f4 Navigator Mission RTL (#8749) 
* Add return to land to mission

This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
 2018-05-27 12:07:06 -04:00
Beat Küng 2e6904b8a4 navigator: use '#pragma once' as include guard 2018-03-13 17:35:15 +01:00
Beat Küng f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Daniel Agar 956935141e Navigator simplify mission 2018-01-14 12:53:53 +01:00
Daniel Agar 25c7a03a8b Navigator remove unnecessary calls to updateParams 
- the SuperBlock already does this
 2018-01-14 12:53:53 +01:00
Daniel Agar 545f8c4452 RTL optionally use planned mission landing (#8487) 
- adds new RTL_LAND_TYPE parameter
 2018-01-04 23:42:01 -05:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00
Dennis Mannhart 8a0a8e20e1 mc_pos_control: use correct altitude as limit 
fadfdasf
 2017-10-10 10:28:07 +02:00
Dennis Mannhart f9b8afc006 Navigator: Use maximum flight altitude to limit missions 
This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
 2017-10-10 10:28:07 +02:00
Daniel Agar 3c18be387c ROI - move handling to navigator (#7939) 2017-09-26 12:25:02 -04:00
sanderux 919b3a218a Factor in reverse pusher delay on mission acceptance radius 2017-09-13 17:25:41 +02:00
sanderux e9516db5b0 Back transition duration based on deceleration m/s/s 2017-08-16 03:06:13 +02:00
Daniel Agar 9fb5c4f0e9 navigator land abort use reposition (#7574) 2017-08-01 18:59:12 -04:00
Daniel Agar ed1b442065 mission require valid landing after DO_LAND_START 2017-04-20 14:41:01 -04:00
Daniel Agar 56b028148b Navigator move get_time_inside and cleanup (#7062) 2017-04-20 11:24:55 -04:00
Sander Smeets de039ca870 VTOL back transition acceptance radius calculation 2017-01-17 03:14:26 -08:00
Daniel Agar c280358e32 navigator fix code style 2017-01-07 01:03:18 -05:00
Andreas Antener e0fc0a847c Mission: 
- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
 2016-12-28 11:53:19 +01:00
Julian Oes 82f27884df navigator: fix wrong altitude after takeoff 
This change fixes a wrong behaviour when a takeoff command is sent.

An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters

Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters

New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
   overridden.
 2016-10-23 16:25:15 +02:00
Lorenz Meier 0481c002df Navigator: Initialize subscription and disallow copy constructors for classes that have pointer members 2016-08-05 10:13:52 +02:00
Daniel Agar 59b4350aa0 implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup 2016-07-12 23:36:05 +02:00
Julian Oes 8e9e9f8a8b vehicle_status: move vtol_vehicle_status enum 
It makes more sense to have the VTOL status in its own message.
 2016-04-11 18:01:47 +02:00
Lorenz Meier 88b2349241 Code style fixes 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 69351675b6 follow target mode working 2016-03-27 12:10:57 +02:00
Daniel Agar 25cb671a6c mission_block.h add TODO 2016-03-22 06:54:42 +01:00
Daniel Agar 408d147a18 MissionFeasibilityChecker geofence ignore NAV_CMD_DO_* 
-closes #4040
 2016-03-22 06:54:41 +01:00
Andreas Antener 4847023cad reset current setpoint when entering RTL 2016-03-19 19:30:09 +04:00
Andreas Antener bb4decfa8b implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default 2016-02-15 23:26:28 +01:00
Roman 80f8fcbdf6 implemented vtol weathervane yaw control for landing and loiter mission item 2016-02-15 09:48:37 +01:00
Andreas Antener 93bc018c93 read current and next mission item at the same time, issue item commands while processing items, guarding setpoint from non-position items 2016-02-08 11:09:10 +01:00
Lorenz Meier 77782bd254 Navigator: Support transition command and digicam command in missions 2016-01-11 08:19:00 +01:00
Andreas Antener fbf42c8949 added auto takeoff support, updated configuration for solo and generalized landing mission items 2015-12-28 15:21:50 +01:00
Lorenz Meier 57b9ac05de Navigator: taking off now on takeoff command, but not yet holding altitude once completed. 2015-11-23 00:23:13 +01:00
Lorenz Meier 51293ad554 navigator: Adjust to uORB mission changes 2015-08-20 11:07:40 +02:00
fpvaspassion 60be6a577f git status 2015-08-18 23:17:07 +02:00
Lorenz Meier 05993bee6f Navigator: Provide better feedback if no mission present, enforce minimum altitude in loiter and in auto modes 2015-06-12 15:57:27 +02:00
Daniel Agar 8aae66b893 trivial code style cleanup round 2 2015-03-27 23:38:58 -04:00
Anton Babushkin adf230ce4e navigator: more API changes, duplicate code removed 2014-06-29 15:35:34 +02:00
Anton Babushkin 0bf9c2a9b2 navigator: API changes, reparing to move manual modes to navigator, WIP 2014-06-29 14:09:22 +02:00
Anton Babushkin 456e628e12 navigator: NavigatorMode and MissionBlock API cleanup 2014-06-28 00:54:27 +02:00
Anton Babushkin affc312411 navigator: make MissionBlock subclass of NavigatorMode 2014-06-27 11:34:19 +02:00
Anton Babushkin c5a5604ae9 navigator: loiter fixes 2014-06-26 00:17:25 +02:00
Anton Babushkin 9d3d5a30af navigator: move set_previous_pos_sp to MissionBlock class 2014-06-25 17:31:12 +02:00