fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 23:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
15,859 Commits 852 Branches 161 Tags
ee0aa7b37d9c9d8b43e908f23bfc0f5a0ce73bd3
Commit Graph
198 Commits
Author SHA1 Message Date
Andreas Antener ee0aa7b37d recalculate absolute thrust before limiting 2015-12-28 15:23:20 +01:00
Andreas Antener d9878493bd cleaning up takeoff/landing logic, commenting on magic values 2015-12-28 15:23:20 +01:00
Andreas Antener 05a73d2821 added takeoff logic for position controller to get the uav off the ground fast and transition smoothly to poctl after takeoff, added landing logic to reduce thrust to zero once on the ground 2015-12-28 15:23:20 +01:00
Andreas Antener ea7a1a92b5 correct thrust limiting during landing with margin, don't reset position setpoint when switching from takeoff to posctl and allow high enough z velocity for position lock 2015-12-28 15:23:20 +01:00
Andreas Antener 09b5bdb1ee in mc auto: do not reset the position sp while near the waypoint, should make switching to manual pos control smoother 2015-12-28 15:23:20 +01:00
Andreas Antener 5a009ce4c8 don't throttle up anymore during landing 2015-12-28 15:21:50 +01:00
Andreas Antener c32d44d8b4 disable position controller when landed and in manual control 2015-12-28 15:21:50 +01:00
Lorenz Meier f41f60901d Control state: Update topic correctly - only if it actually changed and is valid 2015-12-28 15:16:29 +01:00
Andreas Antener 0f67d3fcd8 removed jerk fix and reset prev horizontal vel sp with current velocity 2015-12-18 15:55:17 +00:00
Lorenz Meier 35df66ce5d MC pos control: Fix attitude and thrust SP generation 2015-12-18 15:55:16 +00:00
Lorenz Meier bc3f5daeec Fix attitude yaw generation, store last acceleration setpoint for all non-velocity / position flight modes. 2015-12-18 15:55:16 +00:00
Lorenz Meier 6053066e60 Limit jerk of all commanded trust in velocity mode so that we never get steps in the attitude response. 2015-12-18 15:55:16 +00:00
Lorenz Meier 6ed702094b MC pos control: Keep correctly track of velocity and accelerations 2015-12-18 15:55:16 +00:00
Lorenz Meier f533f6ce19 Store prev velocity at right location 2015-12-18 15:55:16 +00:00
Lorenz Meier 7b06c4afb9 Acceleration limits: Limit at correct location 2015-12-18 15:55:16 +00:00
Lorenz Meier 4f69834761 MC pos control: Add missing previous velocity SP checks 2015-12-18 15:55:16 +00:00
tumbili c1e40bdd60 limit maximal desired horizontal acceleration 2015-12-18 15:55:16 +00:00
tumbili c0f45ed8a7 use tilt compensation also for position control 2015-12-01 17:14:32 +01:00
tumbili d1dc8ed432 if vtol, publish virtual attitude setpoint 
Conflicts:
	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2015-11-25 13:28:22 +01:00
Roman Bapst d55ccd96c6 let vtol attitude control module publish attitude setpoint during transition 
Conflicts:
	src/modules/commander/commander.cpp
	src/modules/fw_att_control/fw_att_control_main.cpp
	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2015-11-25 13:28:21 +01:00
tumbili 78ace92530 reset position hold flag 2015-11-24 16:57:19 +01:00
tumbili 5303a63da0 mc_pos_control: code formatting 2015-11-20 13:16:42 +01:00
tumbili ff5db6b1be fixed alt hold bug 2015-11-20 13:10:46 +01:00
Lorenz Meier 1b640f80fe MC pos control: Widen manual deadband back to 20% 2015-11-09 23:40:31 +01:00
Mark Whitehorn a6ba6eb2e4 reduce Z control deadband from 40% to 5% 2015-11-08 20:42:17 +01:00
Youssef Demitri 170f0032fd updated to master (solve merge conflicts) 2015-11-06 12:18:31 +01:00
Roman Bapst 85605f72f2 Merge pull request #2814 from PX4/mc_pos_guard 
MC position controller: Guard against invalid setpoints
 2015-11-06 09:17:05 +01:00
tumbili a567b9956f fix position hold logic 2015-11-02 16:11:24 +01:00
Roman 601da2818b do not set position setpoint too early 2015-11-01 10:13:55 +01:00
Lorenz Meier 878dc4d7d4 MC pos ctrl: Do not build unused param file 2015-10-29 10:36:54 +01:00
Youssef Demitri dd59409e31 updated to master (solved merge conflicts) 2015-10-27 09:26:27 +01:00
jgoppert 0106be3e89 Added local position estimator. 2015-10-24 20:34:33 +02:00
Youssef Demitri efe82194af ported control state attitude into mc_pos_ctrl 2015-10-16 16:03:25 +02:00
tumbili b3f912ecc1 reset position setpoint when in velocity control mode 2015-10-16 12:38:53 +02:00
v01d 8133f8d616 disable pos/alt controllers when following velocity setpoints in offboard mode 2015-10-16 11:13:52 +02:00
v01d 44bb50e9ea separate _DZ parameter to XY and Z. this allows disabling pos hold for XY and not Z 2015-10-16 11:13:52 +02:00
v01d 9c49b30118 run position controller in main_task, otherwise position setpoints will not be followed 2015-10-16 11:13:52 +02:00
v01d c010962861 change unit of MPC_HOLD_DZ parameter to "%" 2015-10-16 11:13:52 +02:00
v01d 42ccc654b5 fix float comparison to 0.0f 2015-10-16 11:13:52 +02:00
v01d da3087e54c expose pos-hold parameters (also allows different behaviours) 2015-10-16 11:13:52 +02:00
v01d 324c27b941 velocity control implemented: tested in SITL under manual mode 2015-10-16 11:13:52 +02:00
tumbili 759d2a3dff mc position control: 
- directly use commanded velocity for control
- use position error to derive desired velocity when in position hold mode
 2015-10-16 11:13:52 +02:00
Lorenz Meier 104f38eea8 MC position controller: Guard against invalid setpoints 2015-10-15 22:38:58 +02:00
Micah Corah f1cc601ca8 L1 -> unit, L1 easily confused with L1 norm 2015-10-06 17:15:08 -04:00
Lorenz Meier fa5071b3c5 Remove module.mk files to prevent confusion of adopters upgrading 2015-10-06 11:23:20 +02:00
James Goppert 1d6b31d196 Switch to cmake build system. 2015-09-07 20:37:45 -04:00
Andreas Antener 9e1713eb9f constantly reset altitude and yaw setpoint in mc pos control when not in rotary wing mode 2015-08-24 10:38:33 +02:00
Simon Wilks f7e4a4852d Reset the altitude setpoint. 2015-08-24 10:38:33 +02:00
tumbili 044097afbb mc_pos_controller: fix logic for att sp publication 2015-08-13 22:58:32 +02:00
Simon Wilks d786fd4a1b mc pos reset yaw when vtol transitions 2015-08-12 20:33:17 +02:00