ea3acb7121
cmake remove circular linking and reorganize
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- px4_add_module now requires MAIN
- px4_add_library doesn't automatically link
2018-04-29 21:48:54 -04:00
12e967173d
MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1
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With the updated mixer (#9062 ) it's safe to set maximum thrust to 1 (in
both cases, if MC_AIRMODE is set, or not set).
So I see no reason to limit the maximum thrust.
2018-04-26 14:37:48 +02:00
90513e719e
ASSERT: remove some inappropriate asserts
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Since assertions lead to crashes, we need better failure handling. In all
the cases in this patch, the assert is not required.
All the ones with the task id should be replaced with the module base
class.
Ah yes, and this reduces flash space, since the ASSERT macro will expand to
a printf that contains the source file name.
2018-04-11 07:47:06 +02:00
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
2e620cf1d4
mc_pos_control: refactor BlockParam -> Param
2018-04-11 07:47:06 +02:00
735c5544ae
tests add ctlmath and use float FLT_EPSILON
2018-04-09 02:23:26 -04:00
48fa3fbca3
PositionControl: thrust setpoint check with fabsf
2018-04-05 07:30:12 +02:00
26ffda5079
PositionControl: replace matrix length() method with simple dot-product to safe compuation
2018-04-05 07:30:12 +02:00
0c6c771620
ControlMath: remove unused methods
2018-04-05 07:30:12 +02:00
81da94ff46
PositionControl: Anti-windup that uses max in NE based on tilt limit and remaining throttle
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excess
2018-04-05 07:30:12 +02:00
f99471f34c
PositionControl: refactor remove Data define for Vector
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This define results in super unreadable code.
2018-04-05 07:30:12 +02:00
2405baa2c9
FlightTasks: fix manual mode takeoff
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With the new position control architercture manual mode and
potition mode run through the same logic and as a result
it had a throttle thershold for smooth takeoff also in
manual mode. This is fixed by by ignoring the threshold for
any mode which doesn't control the climb rate.
2018-04-05 07:30:12 +02:00
e15240d3ad
FlightTask: only allow for position and alitude control without smoothing.
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This commit is only done to enable incremental testing of Flighttask.
2018-04-05 07:30:12 +02:00
dc60bc8766
mc_pos_control: enable flight tasks
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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
88cf2aebc6
PositionControl: comment fix + unused parameter removal
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
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
fc62df856d
ControlMath: reference to by value
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
6a639373ae
PositionControl: set vel_dot to 0 if thrust setpoint is used
2018-04-05 07:30:12 +02:00
3d591f4f8c
FlightTaskManualAltitude: thrust along xy depends on thrust along z direction
2018-04-05 07:30:12 +02:00
85a263c7bd
vehicle local position setpoint: use array for thrust setpoint
2018-04-05 07:30:12 +02:00
a74c1116ee
mc_pos_control/PositionControl: enable thrust setpoint
2018-04-05 07:30:12 +02:00
0ca823eb30
PositionControl: remove thrust as state; add thrust setpoint support
2018-04-05 07:30:12 +02:00
7a4796a6e3
rename TranslationControl to PositionControl
2018-04-05 07:30:12 +02:00
b4d56ed51a
mc_pos_control: publish yaw_move_rate
2018-04-05 07:30:12 +02:00
1cad36efb9
ControlMath: use sign for direction
2018-04-05 07:30:12 +02:00
b0b72e63e7
TranslationControl: remove throttle
2018-04-05 07:30:12 +02:00
6a4e3bb94e
TranslationControl: update comments
2018-04-05 07:30:12 +02:00
8da2ff4d77
mc_pos_control: set local position setpoint message for idle; for logging purpose,
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always send local position setpoint when in air
2018-04-05 07:30:12 +02:00
ac4379d13f
TranslationControl: initialize with default constructor
2018-04-05 07:30:12 +02:00
e1ab31a5fc
TranslationControl: replace matrix::Vector3f with Data
2018-04-05 07:30:12 +02:00
ddecb4d3a4
teest_controlmath: incomplete set of thrust to attitude tests
2018-04-05 07:30:12 +02:00
bcbd3dc527
ControlMath: thrust to attitude method (legacy method)
2018-04-05 07:30:12 +02:00
adcb2b9ca8
TranslationControl: index fix
2018-04-05 07:30:12 +02:00
840247251d
ControlMath: sign fix
2018-04-05 07:30:12 +02:00
09bf73945a
ControlMath: rename namespace to file name
2018-04-05 07:30:12 +02:00
3b8c718971
TranslationControl: rename variable
2018-04-05 07:30:12 +02:00
2a544cee43
TranslationControl: use reference insteady of by value
2018-04-05 07:30:12 +02:00
ded8675dae
ControlMath: change description name
2018-04-05 07:30:12 +02:00
5fbee9fce9
ControlMath tests
2018-04-05 07:30:12 +02:00
03c81a8948
ControlMath: never saturate in xy when vector is below minimum
2018-04-05 07:30:12 +02:00
6daf78494a
TranslationControl: adjust direction based on constrainPIDu inputs
2018-04-05 07:30:12 +02:00
75b6af77de
ControlMath: fix index and don't adjust sign with method but rather function caller
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needs to adjust for sign
2018-04-05 07:30:12 +02:00
19d50f9511
ControlMath: index fix and scaling fix
2018-04-05 07:30:12 +02:00
Daniel Agar