e88f1b33b2
FlightTasks: fix mission DO_CHANGE_SPEED
...
This fixes the issue where the DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
2019-04-12 15:47:36 +02:00
1454694bdd
FlightTaskAuto: separate default speed and limit
...
It wasn't possible to fly faster than cruise speed even if planned
in the mission.
Limiting the planned cruise speed is necessary because
the smoothed trajectory mission plans to the _mc_cruise_speed and
if that's higher than the maximum it gets capped for safety by the
position controller and the result is a jerky flight.
2019-04-12 15:47:36 +02:00
6f5c97f184
ObstacleAvoidance: do not check for loiter nav state twice
2019-04-04 16:41:26 +02:00
0dab5d3a11
ObstacleAvoidance: enforce camel case
2019-04-04 16:41:26 +02:00
c5dfcbc50e
cosmetics changes to ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
e5441a6565
make format
2019-04-04 16:41:26 +02:00
34c0bb1723
ObstacleAvoidance: don't inject avoidance setpoint when in
...
loiter mode since it's the failsafe mode
2019-04-04 16:41:26 +02:00
0e27b5cbfa
include libraries without the need for full path, make ObstacleAvoidance
...
instance protected
2019-04-04 16:41:26 +02:00
4dcc77b822
ObstacleAvoidance: remove printf and remove unnecessary new lines
2019-04-04 16:41:26 +02:00
c1258931da
rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and
...
updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
2019-04-04 16:41:26 +02:00
b165c41737
ObstacleAvoidance: add comments
2019-04-04 16:41:26 +02:00
aa1b46f85a
ObstacleAvoidance library: save current waypoint in global variable
...
to check progress
2019-04-04 16:41:26 +02:00
94f73117c7
reintroduce obstacle avoidance failsafe. If OA fails, switch to loiter
2019-04-04 16:41:26 +02:00
e464502d2d
remove empty_trajectory_waypoint and getter method for avoidance
...
waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
2019-04-04 16:41:26 +02:00
34b0f33098
move all obstacle avoidance interfaces to the ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
4e806d79fe
inject avoidance setpoints into AutoMapper
2019-04-04 16:41:26 +02:00
320ed40806
use subscription array in ObstacleAvoidance library
2019-04-04 16:41:26 +02:00
a9bab81eb8
make format
2019-04-04 16:41:26 +02:00
8c24ba9255
move injection of avoidance setpoints to flight task library
2019-04-04 16:41:26 +02:00
dec96b0a3a
revert FlightTasks: fix mission DO_CHANGE_SPEED
2019-04-03 18:08:24 +02:00
20adce5077
Add new line at the end of FlightTaskFailsafe.cpp and FlightTaskAutoLine.cpp
2019-04-03 15:38:50 +02:00
b14446f0e5
Parameter update - Rename variables in lib
...
using paramter_update.py script
2019-04-03 15:38:50 +02:00
a21242b0e3
FlightTasks: fix mission DO_CHANGE_SPEED
...
This fixes the issue where the DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
2019-04-03 11:21:12 +02:00
99fb88ce83
AltitudeSmoothVel - Create new altitude flight task that uses the
...
velocity smoothing library to create a jerk-limited trajectory along the
Z axis. This FlightTask is used when MPC_POS_MODE = 3.
2019-04-03 10:43:31 +02:00
a08b1682e3
[Position|AutoLine]SmoothVel - Update position and velocity states of the trajectories in case of EKF reset. Until now, only the position reset on XY axis was properly handled. Now, xy, vxy, z and vz are handled
2019-03-20 14:35:26 -04:00
0813f30723
AutoLineSmoothVel - change function contrain_one_side(..) from snake_case to camelCase
2019-03-20 14:35:26 -04:00
aecf8fce58
ManualPositionSmoothVel - Force velocity and acceleration setpoints to zero if the velocity setpoint is smaller than 1mm/s and that the acceleration setpoint is null
2019-03-18 08:33:11 +01:00
1fefa76e5d
ManualSmoothVel - Set jerk to 1.0 during position hold to help the optimizer to converge towards 0 vel and acc
2019-03-18 08:33:11 +01:00
06f683bdda
VelocitySmoothing - Add simple test script
2019-03-18 08:33:11 +01:00
b9cf4dfb6c
VelocitySmoothing - Get rid of math.h, math.cpp and px4_defines dependencies
2019-03-18 08:33:11 +01:00
ddab0ccdf1
VelocitySmoothing - Protect against division by zero and sqrt of a negative number
2019-03-18 08:33:11 +01:00
b35d048566
cmake enable -Wcast-align and disable per module
2019-03-16 11:47:15 -04:00
c5706f6283
FlightTaskAuto - Recover position control after local position reset ( #11636 )
...
* FlightTaskAuto - Explicitly check is _triplet_target is finite to decide if the target has to be updated or not. If the _target is NAN, always try to update it to get a valid setpoint.
2019-03-15 00:42:24 -04:00
d42b9205f9
Rename parameter MPC_OBS_AVOID to COM_OBS_AVOID and change the location to commander.
2019-03-12 11:24:33 +01:00
f794ee0c8a
FlightTaskManualAltitude: add slow upwards start
...
when still close to ground
2019-03-11 20:09:45 +01:00
63a6ab34f7
FlightTaskManualAltitude: slow down when landing manually
2019-03-11 20:09:45 +01:00
8947cb5841
FlightTaskAuto: removed non used _getMaxCruiseSpeed
2019-03-10 11:17:21 -04:00
f229444722
ManualSmoothVel - Split position lock condition and flag action
2019-02-25 21:41:04 +01:00
8f584a1496
smooth takeoff - Support smooth takeoff triggered by jerk setpoint
2019-02-25 08:07:33 +01:00
0d170a0eaf
FlightTasks VelocitySmoothing initialize member
...
- fixes Coverity CID 328485
2019-02-24 17:10:15 -05:00
7eca2769a7
FlightTasks AutoLineSmoothVel initialize member
...
- fixes Coverity CID 328492
2019-02-24 17:10:15 -05:00
b2739d946c
FlightTasks ManualPositionSmoothVel initialize member
...
- fixes Coverity CID 332544
2019-02-24 17:10:15 -05:00
70ddb8049a
Traj Smoothing - make format
2019-02-13 20:56:57 +01:00
4cace1bbe9
Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator
2019-02-13 20:56:57 +01:00
b7c2464cce
Manual vel smooth - Use MPC_JERK_MAX only
2019-02-13 20:56:57 +01:00
1730cd3a69
Velocity Smoothing - Various improvements, cleanup and corner cases fixes
2019-02-13 20:56:57 +01:00
f1262cbe84
Manual Traj - Avoid velocity jumps due to a modification of the constraints
2019-02-13 20:56:57 +01:00
57eef6b170
Manual Trajectory - Add Z position lock logic and log complete trajectory
2019-02-13 20:56:57 +01:00
6a53a398e0
FlightTask: decline unimplemented callbacks, improve comments
2019-01-31 17:43:35 +01:00
df58e161d1
Trajectory auto - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
Julian Oes