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2084 Commits
Author SHA1 Message Date
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
Dennis Mannhart 453b6a39e4 TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries 2019-09-19 14:09:44 +02:00
Dennis Mannhart e6b7062442 TrajMath: replace type placeholder with floats 2019-09-19 14:09:44 +02:00
Matthias Grob c8d0eba1d2 Update ecl and matrix to safe matrix access 2019-09-18 22:01:36 -04:00
Julian Kent 2d4ecab3b0 Remove unsafe access to .data() and _data in Matrix 2019-09-18 22:01:36 -04:00
Matthias Grob 270e12a4df VelocitySmoothing: refactor local scope t variables instead of array 2019-09-17 09:27:00 +02:00
bresch da8ac8cafb VelocitySmoothing - Clean up updateTraj function based on Matthias' comments 2019-09-17 09:27:00 +02:00
bresch b82fa68893 VelocitySmoothingTest - Fix typo and use "zero" instead of "null" 2019-09-17 09:27:00 +02:00
bresch 42cedb7fda VelocitySmoothing - Change direction of "brake" as braking means that 
only the T3 part is required and that the jerk applied during T3 is the
opposite of the one defined by "_direction".
 2019-09-17 09:27:00 +02:00
bresch 8490266be8 VelocitySmoothing - (Re)set _state_init every time _state is (re)set 2019-09-17 09:27:00 +02:00
bresch 654938f6a1 VelocitySmoothing - Cosmetic changes (new lines, reorganize functions), 
regroup both updateTraj functions and edit some comments
 2019-09-17 09:27:00 +02:00
bresch 0b765a1642 AltitudeSmoothVel - Update to use new implementation of VelocitySmoothing 
Remove jerk reduction (not needed in the new implementation)
 2019-09-17 09:27:00 +02:00
bresch 862454827e VelocitySmoothingTest - Test that the trajectory is always within the constraints 2019-09-17 09:27:00 +02:00
bresch 8cc2a7018e VelocitySmoothing - Re-enable time stretch, integrate dt to get local time. 
Also split a few functions into smaller ones for readability, fix
formatting, use geters to get the current state of the trajectory
instead of return arguments.
 2019-09-17 09:27:00 +02:00
bresch c7696488fe VelocitySmoothing - Improve computation of the direction of the trajectory by predicting the velocity at zero acceleration instead of the current velocity 
This helps when the current velocity is smaller than the target but that
the acceleration is too large such that the velocity will overshoot.
Without this check, the algorithm increases the acceleration which leads
to an even larger overshoot.
 2019-09-17 09:27:00 +02:00
bresch 052932fa95 VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class 2019-09-17 09:27:00 +02:00
bresch c13499e64b test_velocity_smothing - Update test script to use new polynomial evaluation algorithm 2019-09-17 09:27:00 +02:00
bresch a03cc495ce VelocitySmoothing - Refactor class to use polynomial evaluation instead of numerical integration 
This solves many numerical issues when the trajectory is close to the
primary NE axes (small velocities). It is also more robust when dt is
large and has some jitter.
 2019-09-17 09:27:00 +02:00
Matthias Grob d4f984fea5 FlightTaskAutoLineSmooth: Fix comment to be style compliant 2019-09-13 18:10:05 +02:00
bresch 47401d1177 AutoLineSmoothVel - Replace min/max absolute constraints with a function named constrainAbs 
This function constrain the absolute value of some value but keeps the original sign.
 2019-09-13 17:46:01 +02:00
bresch 3c5b24037a AutoLineSmoothVel - Improve virtual pilot logic that provides velocity setpoints to the trajectory generator. 
Constrain the generated velocities in the NE inertial frame rather than
just constraining the norm.
 2019-09-13 17:46:01 +02:00
bresch 59f54a7fd8 mathlib - Add FLT_EPSILON deadzone in sign computation 2019-09-13 17:46:01 +02:00
Martina Rivizzigno 78279f6587 Unit tests for Obstacle Avoidance interface (#12816) 
* FlighTask: remove legacy definition of empty_trajectory_wapoint

* add unit tests for the ObstacleAvoidance interface
 2019-09-12 14:37:31 +02:00
Julian Kent 39451b811a Do syscall for time once, outside of loop 2019-09-11 12:34:59 -04:00
Julian Kent b27d6a958a Account for the time since range data arrived 2019-09-11 12:34:59 -04:00
Hamish Willee 94ef585f76 Link to missing params docs 2019-09-11 09:17:00 -04:00
Julian Kent a8fbe6bba2 Remove references to pow(x,0.5), use sqrt instead (#12928) 
* Remove references to pow(x,0.5), use sqrt instead

* Update matrix library
 2019-09-10 13:29:39 +02:00
mcsauder ddd9a97d42 Modify the LeddarOne driver class to utilize the PX4RangeFinder library. 2019-09-06 11:59:29 +02:00
Tanja Baumann f3c5ca6015 Collision Prevention: support multiple sensors and frames (#12883) 
* build internal sensor map

* Extend testing coverage

* Update matrix library
 2019-09-06 08:38:56 +02:00
Julien Lecoeur 7bea81f02c Add board orientation ROLL_90_YAW_270 2019-09-05 20:41:32 -07:00
Daniel Agar c75954fef8 lib/led: temporarily ignore implicit fallthrough warning 2019-09-04 20:03:02 -07:00
PX4 Build Bot 69475a172b Update submodule ecl to latest Wed Sep 4 08:37:31 EDT 2019 
- ecl in PX4/Firmware (da6970329175df98ff46b2d9ddfa467ba438bb2e): https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7
    - ecl current upstream: https://github.com/PX4/ecl/commit/3b32ee41660afd4785c374355e0fdefdae83e9b9
    - Changes: https://github.com/PX4/ecl/compare/62fa464e4dd6cb5e585d23bd353aa50a469879f7...3b32ee41660afd4785c374355e0fdefdae83e9b9

    3b32ee4 2019-09-02 bresch - Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor. Until now, it was alway resetting if the vehicle does not have gps or external vision. This caused a reset/glitch at every stop (when range data gets valid)
be368f3 2019-08-28 kamilritz - Update comment
c5abfe6 2019-08-28 kamilritz - remove canonicalize and adapt comments
67512d8 2019-08-22 kamilritz - Update matrix library for CI
a2ff415 2019-08-22 kamilritz - Fix get frame aligning quaternion function
53eac6e 2019-08-21 kamilritz - Canonicalize alignment quaternion
933c32c 2019-08-20 kamilritz - Enable local frame alignment also without using it
ea352a6 2019-08-20 kamilritz - Dont use mag suffix for magnitude
05196db 2019-08-20 kamilritz - Fix alignment of local frame
 2019-09-04 08:09:36 -07:00
Julian Oes 5e9cae11f8 controllib: fix for undefined sanitizer 2019-09-03 11:54:09 -05:00
Daniel Agar 4d9f2bf776 add IMU_GYRO_RATEMAX to optionally limit gyro control publication rate 2019-09-02 20:06:50 -04:00
Daniel Agar b0f82ee8ac CollisionPrevention: update orb_publish to uORB::Publication<> 2019-09-02 15:35:34 -04:00
Julian Kent bc58bed960 Add test for jerk reduction 2019-09-02 14:51:18 +02:00
Julian Kent 865157228f Add collision prevention velocity limitations also based on max accel/jerk 2019-09-02 14:51:18 +02:00
Beat Küng f0ee0b5d49 MixingOutput: make scheduling configurable 
And make sure fmu calls MixingOutput::updateSubscriptions on startup even
if no mixer is loaded, so that it gets scheduled.
 2019-08-31 10:05:00 -04:00
Beat Küng a2ebbe9066 pwm_limit: rename to output_limit 
As there is nothing pwm-specific about it.
 2019-08-31 10:05:00 -04:00
Beat Küng 1bee984bb0 MC_AIRMODE: move parameter definition to mixer_module 
Makes sure that the parameter is included for the builds that need it.
 2019-08-31 10:05:00 -04:00
Beat Küng 077b229655 MixingOutput: make mixer loading thread-safe 2019-08-31 10:05:00 -04:00
Beat Küng d3fb610fde mixer_module: create MixingOutput library and use in fmu 
This should be a pure refactoring, no functional change.
 2019-08-31 10:05:00 -04:00
Matthias Grob d3c7d06288 FlightTaskOrbit: don't apply yaw feed forward in circle approach 
The yaw pointing towards the center makes sense since that's the approach
direction anyways. But with the yaw feed forward results in a weird looking
bias when not orbiting yet.
 2019-08-31 14:25:39 +02:00
Matthias Grob 7774b150a9 FlightTaskOrbit: only reapproach circle if center changed 
The condition that the vehicle is more than 3m away from the circle line
was too sloppy. That often happens when the radius is changed by sticks.
A reapproach is only necessary when the center is moved and that's only
possible through the orbit command.
 2019-08-31 14:25:39 +02:00
Matthias Grob cca7596bcd FlightTaskOrbit: use StraightLine library to approach circle 
The initial approach to the circle to orbit on was very agressive since
it was just the controller trying to stay on the circle reaching the
limits. Now there's first an approach phase in which the vehicle reaches
the circle trajeectory in a smooth perpendicular line before starting the
orbit execution.
 2019-08-31 14:25:39 +02:00
Matthias Grob 345ad06d7e StraightLine: rewrite old implementation 
Before it was:
- not used anywhere
- copied from an old mission implementation version
- didn't plan in advance
- had a lot of broken cases
- dependent on a lot of parameters

I'm starting with a new relatively simple implementation that works as
expected for a minimum viable implementation and can be improved over time.
The first version is used to approach the circle path in Orbit mode to
verify the interface and get testing such that it gets eventually used
everywhere.
 2019-08-31 14:25:39 +02:00
Beat Küng 43fdcd7876 px4_middleware: remove that header and move px4::init to px4_init.h 
delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng f32abe8534 src/platforms: move remaining source files to platforms/common 2019-08-30 07:59:44 +02:00
Beat Küng f8e0441e7b src/platforms/common: move to platforms/common 
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
 2019-08-30 07:59:44 +02:00
Beat Küng 3bdfd8ce8d ToneAlarmInterface: move to drivers/drv_tone_alarm 
It belongs there since it's not a library providing the implementation, but
just declaring the interface.
 2019-08-30 07:59:44 +02:00