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Author SHA1 Message Date
bresch ea0e164145 FlightTask - Rename state_prev to last_setpoint 2019-07-16 13:09:09 +02:00
bresch 37a9b90945 FlightTask - Move checkSetpoints function in each FlightTask to be tailored to the specific needs and avoid checking all the setpoints 2019-07-16 13:09:09 +02:00
bresch 24811cf550 FlightTask smoothVel - Initialize ekf reset counters when task is activated 2019-07-16 13:09:09 +02:00
bresch 1414f50cea FlightTask - When switching task, pass the last setpoints of the previous task to the new task 
This is done to allow proper initialization of the new FlightTask and
give it a chance to continue the setpoints without discontinuity. The
function checkSetpoints replaces the setpoints containing NANs with an
estimate of the state. The estimate is usually the current estimate of
the EKF or zero.
The transition FlightTask also provides an estimate of the current
acceleration to properly initialize the next FlightTask after
back-transition. This avoid having to initialize the accelerations to
zero knowing that the actual acceleration is usually far from zero.
 2019-07-16 13:09:09 +02:00
bresch d24c415fd7 PID rate controller - Add controller gain to support Ideal PID form (ISA standard) 2019-07-16 10:24:19 +02:00
bresch e5128ac7b9 Cosmetic - Use c++ list initialization 2019-07-11 17:46:44 +02:00
bresch 15ec73629b MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that 
the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
 2019-07-11 17:46:44 +02:00
bresch 6df1600357 Auto - Update velocity setpoint generator to avoid overshoot at high cruise speed. 
The linear mapping from position error to cruise velocity is changed by
a combination of that linear mapping and a nonlinear function containing
the maximum acceleration and jerk to avoid overshoots at waypoints due to
overoptimistic breaking distance.
 2019-07-09 09:46:45 +02:00
Mathieu Bresciani e54075abe8 MC pos control - Force cruise and manual speeds below max speed. (#12404) 
- Force hover thrust between min and max thrust
 2019-07-05 15:40:28 -04:00
Mathieu Bresciani c5deba53a2 mc_pos_control: Explicitly convert tilt variables to radians during check and assignments 2019-06-27 11:38:21 -04:00
bresch 83d90410ff Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX 
as written in the parameter desctiption
 2019-06-14 09:56:56 +02:00
bresch ac4458460d FailureDetector - update hysteresis to comply with new interface 2019-06-05 16:53:08 +02:00
bresch 57c2085ce4 IO driver - Recover flight termination state from IO after FMU reboot in air 2019-06-05 16:53:08 +02:00
bresch c75f71abc2 IO failsafe - apply failsafe values to outputs when in failsafe. 
This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
 2019-06-05 16:53:08 +02:00
bresch 96da46d1aa Failsafe - cosmetic changes 2019-06-05 16:53:08 +02:00
bresch 776b1a28de IO mixer - cleanup FMU timeout check (comments and indentation) 2019-06-05 16:53:08 +02:00
bresch c576c57d7b protocol.h - comment style update 2019-06-05 16:53:08 +02:00
bresch 4b8febf558 Flight termination IO - reword flight termination flag description 2019-06-05 16:53:08 +02:00
bresch 158463d0a0 Flight termination - Rename "flightterm" variables and defines to "flighttermination". 2019-06-05 16:53:08 +02:00
bresch 5becc24a1f Failure detector - in failure detector preflight check, get 
vehicle_status as const type. Also use FAILURE_NONE enum to check for a
failure
 2019-06-05 16:53:08 +02:00
bresch 33a94c8191 Failure detector - change snake_case function names to camelCase 2019-06-05 16:53:08 +02:00
bresch ee1f8f457b px4io - rename safety_param_val to circuit_breaker_io_enabled and change its type to bool since circuit_breaker_enabled returns a boolean 2019-06-05 16:53:08 +02:00
bresch 03ad4ffd47 FailureDetector - Add is_failure() function to simplify the interface; the user does not need to check the bitmask 2019-06-05 16:53:08 +02:00
bresch d3c9436f84 flight termination - rename in_flight_termination to flight_termination_triggered 2019-06-05 16:53:08 +02:00
bresch e8705f08c4 quad_x_main - rename parachute output to failsafe output 2019-06-05 16:53:08 +02:00
bresch 4eaf6e77be Flight termination - Always send flag to IO without checking the circuit breaker. The circuit breaker is used inside IO to decide if it has to go into failsafe if FMU dies and also controls is the FailureDetector sets the force_failsafe flag. The other sources of flight termination (rc loss, geo fence, ...) are not disabled by the circuit breaker 2019-06-05 16:53:08 +02:00
bresch 59265f6663 Failure detector - Add flight termination comments, make format 2019-06-05 16:53:08 +02:00
bresch 0655f7603b FailureDetector - Increase min value of FD_FAIL_P/R to 60 degrees 2019-06-05 16:53:08 +02:00
bresch d19614a94f MC Lnd detector - Remove double include 2019-06-05 16:53:08 +02:00
bresch 38345be41a FailureDetector - Add roll and pitch failures hysteresis 2019-06-05 16:53:08 +02:00
bresch a72de95c94 Failure detector - Disable flight termination by default. Modify FD_FAIL parameters description 2019-06-05 16:53:08 +02:00
bresch 81bb7888de Failure Detector - Add Failure Detector check to preflight checks 2019-06-05 16:53:08 +02:00
bresch c73875cbf8 quad x mixer - Add null mixer for parachute triggering 2019-06-05 16:53:08 +02:00
bresch 34fca5a552 PWM - Remove unused MIXERADDSIMPLE 2019-06-05 16:53:08 +02:00
bresch 7b531bcaef Failure Detector - Play TONE_PARACHUTE_RELEASE_TUNE when force failsafe is set 2019-06-05 16:53:08 +02:00
bresch d655c33faa IO mixer - Change default mixer to DISARMED and allow to set outputs to failsafe if FMU does not respond and if flight termination circuit breaker is not set 2019-06-05 16:53:08 +02:00
bresch 6fb1b4886c IO - Send flight termination circuit breaker state to IO through PX4IO_P_SETUP_ENABLE_FLIGHTTERM 2019-06-05 16:53:08 +02:00
bresch 796631db20 PX4IO driver - use "curcuit_breaker_enabled" function instead of manually checking its value 2019-06-05 16:53:08 +02:00
bresch 19bf080313 PX4ioFirmware - Clean should_arm, should_arm_nothrottle and should_always_enable_pwm indentation for better understanding 2019-06-05 16:53:08 +02:00
bresch ba93f9b983 FailureDetector - Update failure detector logic in commander. 2019-06-05 16:53:08 +02:00
bresch 664fff4a24 Px4io Driver - Remove unimplemented prototype 2019-06-05 16:53:08 +02:00
bresch b64a2a884b Circuit Breaker - Disable flight termination circuit breaker by default (reverts ab40008) -> Allow flight termination 2019-06-05 16:53:08 +02:00
bresch 50d75dc7a6 IOFirmware - Properly clear the alarm flags 2019-06-05 16:53:08 +02:00
bresch d5298fccbd PWM_REV - Clarify use case. The user shoul not be tempted to use that 
parameter to reverse the direction of a rotor.
 2019-06-05 09:10:06 +02:00
bresch 2307c7c390 Geofence - Rename _warning_action_on to _geofence_warning_action_on 
since it is only set by the geofence logic. Simplify conditions in IF
statements.
 2019-06-04 08:35:56 +02:00
bresch f8f967f073 Geofence - Change from "re-engage geofence failsafe every 10s when 
outside the fence" to "engage geofence failsafe on transition". This
way, the pilot is not stucked in the non flight zone and can switch to
a manual mode and fly back or trigger RTL.
 2019-06-04 08:35:56 +02:00
bresch 427b2e6636 Geofence - Do not trigger geofence failsafe while in low battery 
failsafe action.
Also move geofence flags from static variables declared into the if
statement to private members of the class.
 2019-06-04 08:35:56 +02:00
bresch d13dfdcd24 AutoLineSmoothVel - Remove duplicate of _yaw_sp_prev update. This is done in the Auto FlightTask, _limit_yaw_rate 2019-05-30 11:14:44 +02:00
bresch a7cf981c8c AutoLineSmoothVel - Reduce jerk if acceleration, velocity and desired velocity are small to help the optimizer to converge towards zero 2019-05-30 11:14:44 +02:00
bresch 3499b6ff89 AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s 
This is done to avoid generating large yaw changes when the velocity
vector is small; for example when switching into loiter or reaching the
last waypoint.
 2019-05-30 11:14:44 +02:00
bresch bb055fdaf3 AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly 2019-05-22 22:05:38 +02:00
bresch feefbb444b ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration 2019-05-17 14:15:29 +02:00
Mathieu BrescianiandMatthias Grob 4b2d01dea1 MPC parameters - Update from Matthias' comments 
Co-Authored-By: Matthias Grob <maetugr@gmail.com>
 2019-05-17 14:15:29 +02:00
bresch b726d8df0d Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode 2019-05-17 14:15:29 +02:00
bresch 02f0533ee9 Commander - Remove old code that overrides state_machine_helper logic 2019-05-07 17:45:28 +02:00
bresch 6d8d8e3c88 MC gyro cutoffs - Reduce IMU_GYRO_CUTOFF to 30Hz and disable MC_DTERM_CUTOFF. 
A low gyro cutoff is needed for most medium/large size drones as the structural natural and blade-pass frequencies are low.
A higher value is still desirable for small platforms surch as racers
or well isolated autopilots and should be tuned by the user.
Specific values for config files are untouched.
The cutoff filter for the D term is disabled here as the required
cutoff frequency for the default D term of the rate controller is higher
than the gyro cutoff. In that case, enabling the D term cutoff would
just add some undesired phase lag to the derivative.
 2019-05-07 12:15:51 +02:00
bresch 881d0f4143 UAVCAN - update ROMFS_FW_PATH to /etc/uavcan/fw. to match documentation 2019-05-02 16:22:33 -05:00
bresch 89bc68e12b Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX 2019-04-26 12:43:26 +02:00
bresch 581d25f77f Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller 
Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
 2019-04-26 12:43:26 +02:00
bresch 903deb7579 RTL - Skip descend state if no delay is set between descend and land 2019-04-25 18:24:04 +02:00
bresch 93d52581ef Auto - Fix cruise speed. Tested with and without SDK. Before that commit, the drone files at max speed instead of cruise speed if not precised by the SDK 2019-04-15 16:32:26 +02:00
bresch dec96b0a3a revert FlightTasks: fix mission DO_CHANGE_SPEED 2019-04-03 18:08:24 +02:00
bresch 20adce5077 Add new line at the end of FlightTaskFailsafe.cpp and FlightTaskAutoLine.cpp 2019-04-03 15:38:50 +02:00
bresch 986c1a37d1 Parameter update - Rename variables in modules/ekf2 
using parameter_update.py followed by a make format
 2019-04-03 15:38:50 +02:00
bresch da2deaa0b2 Parameter update - Rename variables in modules/mavlink 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch f3990c84fc Parameter update - Rename variables in modules/navigator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch e575f032e4 Parameter update - Rename variables in modules/mc_att_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2197ac883d Parameter update - Rename variables in modules/wind_estimator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 6c823903bc Parameter update - Rename variables in modules/simulator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch f08c00f324 Parameter update - Rename variables in modules/fw_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ecacf4de46 Parameter update - Rename variables in modules/load_mon 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 10ba0801d2 Parameter update - Rename variables in modules/fw_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ece49247b6 Parameter update - Rename variables in modules/mc_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch c6e7c0fa5d Parameter update - Rename variables in modules/events 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2ca8ddd8af Parameter update - Rename variables in modules/commander 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch 2255ab21be Parameter update - Rename variables in templates 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch b14446f0e5 Parameter update - Rename variables in lib 
using paramter_update.py script
 2019-04-03 15:38:50 +02:00
bresch ec5da55107 Parameter update - Rename variables in drivers 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
bresch aa8edbc2ba Parameter update - add -tcpp flag in rg to check C++ files only 2019-04-03 15:38:50 +02:00
bresch 06ab8570ab Parameter update - Add parameter_update.py script used to rename the BlockParam variables with the new strict naming convention 2019-04-03 15:38:50 +02:00
bresch 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
bresch 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
bresch 0813f30723 AutoLineSmoothVel - change function contrain_one_side(..) from snake_case to camelCase 2019-03-20 14:35:26 -04:00
bresch 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
bresch 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
bresch 06f683bdda VelocitySmoothing - Add simple test script 2019-03-18 08:33:11 +01:00
bresch b9cf4dfb6c VelocitySmoothing - Get rid of math.h, math.cpp and px4_defines dependencies 2019-03-18 08:33:11 +01:00
bresch ddab0ccdf1 VelocitySmoothing - Protect against division by zero and sqrt of a negative number 2019-03-18 08:33:11 +01:00
bresch 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
bresch 684e2974ac mc_pos_control_main - Re-add updateVelocityControllerIO for glitch-free position unlock 2019-02-28 21:26:13 +01:00
bresch f229444722 ManualSmoothVel - Split position lock condition and flag action 2019-02-25 21:41:04 +01:00
bresch 8f584a1496 smooth takeoff - Support smooth takeoff triggered by jerk setpoint 2019-02-25 08:07:33 +01:00
bresch 197ddd3e46 mc_pos_control - Publish trajectory setpoint directly after the FlightTask update 2019-02-13 20:56:57 +01:00
bresch c0dab47554 mc_pos_control - reduce smooth_velocity_takeoff default threshold, set initial takeoff speed to 0 and remove useless else 2019-02-13 20:56:57 +01:00
bresch e0c48d1d76 PositionControl - use dynamic constraints to saturate velocity controller for now as it is needed for the current smooth takeoff logic. Will be reverted after smooth takeoff refactor 2019-02-13 20:56:57 +01:00
bresch 106f0769fd mc_pos_control - add takeoff_ramp_time zero division guard 2019-02-13 20:56:57 +01:00
bresch 70ddb8049a Traj Smoothing - make format 2019-02-13 20:56:57 +01:00
bresch 3543071eb9 Position Controller - Saturate the controllers using static parameters. Handle saturations in the flight tasks only 2019-02-13 20:56:57 +01:00
bresch 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
bresch b7c2464cce Manual vel smooth - Use MPC_JERK_MAX only 2019-02-13 20:56:57 +01:00