edb2e3256f
FlightTask: getConstraints method and member
2018-07-20 09:26:18 +02:00
5a4701c7de
Flighttask: update comments
2018-07-20 09:26:18 +02:00
97be84b0e4
FlightTask: introduce method for limits and adjust accordingly for all the tasks
2018-07-20 09:26:18 +02:00
73b4f452cc
FlightTask: add distance to bottom
2018-07-20 09:26:18 +02:00
e2ac12ef2c
FlightTask: comment fixes
2018-07-20 09:26:18 +02:00
b7f729e432
FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition
...
and _evaluateVehicleGlobalPosition
2018-07-20 09:26:18 +02:00
913932ff9e
FlightTask: move geo-lib include to FlightTaskAuto where it is required
...
for conversion from global to local
2018-07-20 09:26:18 +02:00
a401778038
FlightTask: remove global to local map
2018-07-20 09:26:18 +02:00
816f2d12d5
FlightTaskAuto minor clean up
2018-07-20 09:26:18 +02:00
6e62beb560
FlightTaskAuto: abstract class for mapping triplets to quadruple
...
FlightTaskAuto: add type that corresponds to triplet type
FligthTaskAuto: set all setpoints if invalid in xy
FlightTaskAuto: cast triplet type to WaypointType
FlightTaskAutoLine: class for px4 legacy auto
FlightTaskAutoLine: methods prototype
FlightTaskAuto: change sp to wp (=Waypoint)
add params
FlightTaskAutoLine: follow waypoints along line based on flight state
2018-07-20 09:26:18 +02:00
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +02:00
309237c4a2
FlightTasks: replace setpoint setters with members
...
I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
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
01ecb05341
snapdragon: changed constexpr to const in FlightTask so that it would compile
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
76ad00497b
FlightTasks and local setpoint: add thrust setpoint
2018-04-05 07:30:12 +02:00
4d0dca5dd5
FlightTask: make applyCommandParameters getting called recursively & pass command by reference
2018-04-05 07:30:12 +02:00
4bb3692020
FlightTask: remove unused declaration of old position evaluation method
2018-04-05 07:30:12 +02:00
d9c7e6321f
FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
2018-04-05 07:30:12 +02:00
efd240904f
FlightTasks: added possibility to apply task parameters from the vehicle command
2018-04-05 07:30:12 +02:00
e5d237088c
FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
2018-04-05 07:30:12 +02:00
888a63c001
FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
2018-04-05 07:30:12 +02:00
e44733a03c
FlightTasks: small refactor for review comments
2018-04-05 07:30:12 +02:00
1906b5b635
FlightTasks: remove all remaining unnecessary semicolons
2018-04-05 07:30:12 +02:00
071b09c65d
FlightTasks: initialize task state based on subscriptions after the SubscriptionArray was initialized
2018-04-05 07:30:12 +02:00
b0fdbf5136
FlightTask: inherit from Block instead of SuperBlock
...
I think this is more how it's meant to be
2018-04-05 07:30:12 +02:00
9b571abb47
FlightTasks: add SubscriptionArray class that contains all subscriptions
...
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
2018-04-05 07:30:12 +02:00
b5ecf9824d
flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations
...
In addition, we will need some shared data structure for the uorb
subscriptions.
2018-04-05 07:30:12 +02:00
99eb051c0f
FlightTasks: adapt POSIX convention to return negative values on error
2018-04-05 07:30:12 +02:00
8a4d51c630
FlightTasks: replaced all hrt_elapsed() calls and unneeded hrt_ calls to safe performance
2018-04-05 07:30:12 +02:00
9fdb3ace0c
FlightTask: added setter for yawspeed and removed newlines in comments
2018-04-05 07:30:12 +02:00
dd53d1df5f
FlightTask: use copyToRaw matrix method in setpoint setters
2018-04-05 07:30:12 +02:00
2dd61f71d1
FlightTask: fix doxygen comment /**< instead of /*<
2018-04-05 07:30:12 +02:00
c1056d307c
FlightTask: move setter back into header and switched argument to reference to have them inlined by the compiler
2018-04-05 07:30:12 +02:00
e193240e98
FlightTask: fix CI: static field requiring definition in cpp file, errors with clang linker (CI) but not with GCC
2018-04-05 07:30:12 +02:00
23fe822955
FlightTasks: private variables follow underscore name convention, member description comments doxygen style
2018-04-05 07:30:12 +02:00
92acbfde3e
FlightTasks: FlightTask definition to cpp, fix include chain, fix cmake
2018-04-05 07:30:12 +02:00
c211c807ad
FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library
2018-04-05 07:30:12 +02:00
e49f80eaa8
FlightTasks: switched output setpoint to reference getter, FlightTask holds it's data
2018-04-05 07:30:12 +02:00
d48ba8be72
FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
2018-04-05 07:30:12 +02:00
0aeea44780
FlightTask: fixed time initialization issues
2018-04-05 07:30:12 +02:00
6c0e7654ed
FlightTasks: added handling for switching to the already active task and success feedback
...
removed and added comments
2018-04-05 07:30:12 +02:00
018581faca
FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly
2018-04-05 07:30:12 +02:00
f2250c1952
FlightTasks: made a FlightTask inherit from SuperBlock to have Block::Subscription s
...
FlightTask Manual: subscription made setpoint conversion according to vehicle attitude work
2018-04-05 07:30:12 +02:00
a8a2b4b6f3
FlightTasks: switched output position setpoint to be pointer based
...
changed "NULL"-pointers to "nullptr" for better compliance
2018-04-05 07:30:12 +02:00
28f4d18062
FlightTasks: added FlightTaskManual as replacement for the current stick based position controlled flight
...
it's a draft and only works for velocity setpoints oriented in NED frame yet
# Conflicts:
# src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
2018-04-05 07:30:12 +02:00
88bf40e3cb
FlightTasks: added simple task switching with possibility do disable FlightTasks completely
2018-04-05 07:30:12 +02:00
37cb8c1a59
FlightTasks: added access to prepared velocity state for every task
2018-04-05 07:30:12 +02:00
8da1d3b16e
FlightTasks: give every FlightTask access to prepared stick input and position state
2018-04-05 07:30:12 +02:00
225f99af16
FlightTasks: created an array for all tasks and a method to set the general input pointers for all of them
2018-04-05 07:30:12 +02:00
Dennis Mannhart