bresch
f5d7eb4d87
Refactor FlightTaskManualPositionSmoothVel
2019-09-19 17:31:49 +02:00
bresch
080eedfd02
ManualPositionSmoothVel - Split large function into smaller ones, split XY and Z axes
...
Next step is to move as much as possible to a library in order to
reuse the Z axis in the Altitude FlightTask
2019-09-19 17:31:49 +02:00
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
feefbb444b
ManualSmoothVel - Remove unused _param_mpc_jerk_min declaration
2019-05-17 14:15:29 +02:00
bresch
b14446f0e5
Parameter update - Rename variables in lib
...
using paramter_update.py script
2019-04-03 15:38:50 +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
8f584a1496
smooth takeoff - Support smooth takeoff triggered by jerk setpoint
2019-02-25 08:07:33 +01:00
Daniel Agar
b2739d946c
FlightTasks ManualPositionSmoothVel initialize member
...
- fixes Coverity CID 332544
2019-02-24 17:10:15 -05:00
bresch
57eef6b170
Manual Trajectory - Add Z position lock logic and log complete trajectory
2019-02-13 20:56:57 +01:00
bresch
a2d5485c7f
Trajectory manual - Handle EKF xy reset
2019-01-22 17:23:16 +01:00
bresch
90cee2d5ea
Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff)
2018-11-06 22:17:00 +01:00
bresch
6a7ce651bc
Trajectory - Add position lock-unlock logic and proper initialization from controller feedback
2018-11-06 22:17:00 +01:00
bresch
ab7e4436b3
Vel smooth - Add Z trajectory
2018-11-06 22:17:00 +01:00
Beat Küng
86463e4ec7
Flight Tasks: add new trajectory smoothing flight task & library
...
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
2018-11-06 22:17:00 +01:00
bresch