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Author SHA1 Message Date
Martina Rivizzigno 119ccc4256 ObstacleAvoidance: fix comment 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 61f69ed139 ObstacleAvoidance: use convention for paramter name 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 1e8582974c do not update desired setpoints and waypoints if the oa is disabled 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 0963dc9af1 ObstacleAvoidance: fix bug in requesting update of the mission item. 
During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 9e8575b71b do not overwrite with obstacle avoidance yaw setpoints if external yaw 
handling is enabled
 2019-05-29 15:16:33 +02:00
Martina Rivizzigno 44b8b4f79f send velocity setpoint to enable proper takeoff/land 2019-05-29 15:16:33 +02:00
Martina Rivizzigno a18f3e5d45 reset the position lock only if current triplet latitude and longitude 
are valid
 2019-05-24 21:40:42 +02:00
Martina Rivizzigno eba0bb389a ObstacleAvoidance: fix comment, update failsafe position if one axis is NAN 2019-04-24 08:54:50 +02:00
Martina Rivizzigno e037edd2cc ObstacleAvoidance: once the commadand loiter has been sent, keep using 
the first position when the oa fails as setpoint to avoid jumps
 2019-04-24 08:54:50 +02:00
Martina Rivizzigno f0ce0646a3 rostest_avoiance_run: bump to avoidance stable release 0.2.0 2019-04-10 16:36:18 -04:00
Martina Rivizzigno 6f5c97f184 ObstacleAvoidance: do not check for loiter nav state twice 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0dab5d3a11 ObstacleAvoidance: enforce camel case 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c5dfcbc50e cosmetics changes to ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e5441a6565 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34c0bb1723 ObstacleAvoidance: don't inject avoidance setpoint when in 
loiter mode since it's the failsafe mode
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 0e27b5cbfa include libraries without the need for full path, make ObstacleAvoidance 
instance protected
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 4dcc77b822 ObstacleAvoidance: remove printf and remove unnecessary new lines 2019-04-04 16:41:26 +02:00
Martina Rivizzigno c1258931da rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and 
updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno b165c41737 ObstacleAvoidance: add comments 2019-04-04 16:41:26 +02:00
Martina Rivizzigno aa1b46f85a ObstacleAvoidance library: save current waypoint in global variable 
to check progress
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 94f73117c7 reintroduce obstacle avoidance failsafe. If OA fails, switch to loiter 2019-04-04 16:41:26 +02:00
Martina Rivizzigno e464502d2d remove empty_trajectory_waypoint and getter method for avoidance 
waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 34b0f33098 move all obstacle avoidance interfaces to the ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 4e806d79fe inject avoidance setpoints into AutoMapper 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 320ed40806 use subscription array in ObstacleAvoidance library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno a9bab81eb8 make format 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 8c24ba9255 move injection of avoidance setpoints to flight task library 2019-04-04 16:41:26 +02:00
Martina Rivizzigno 8cdc2d9ae9 update matrix library submodule 2019-03-22 15:41:33 +01:00
Martina Rivizzigno 09b795161e Obstacle Avoidance testing in CI (#10780) 2019-03-15 00:37:23 -04:00
Martina 44aa33be09 obstacle_distance: update distances description according to latest obstacle_distance mavlink message 2018-11-05 15:25:58 +01:00
Martina 280cb34a77 FlightTaskAuto: replace NAV_ACC_RAD with acceptance radius from triplet 2018-10-09 12:01:45 -04:00
Martina 18f4144e5a mission_block: when creating a triplet from a mission item use the default 
acceptance radius from the paramters and overwrite it if the mission item
has set acceptance radius
 2018-10-09 12:01:45 -04:00
Martina e73c50ad9c mc_pos_control_main: enable continuos update of vehicle_trajectory_waypoint 
desired such that it's possible to use it in manual modes
 2018-10-02 09:45:48 -04:00
Martina 5a57e82072 navigator: clarify NaN return for get_yaw_acceptance 2018-09-24 11:23:01 +02:00
Martina b220e74219 navigator_main: add comment to explain yaw_acceptance usage 2018-09-24 11:23:01 +02:00
Martina 5b8ae9fb29 rename position_controller_status field from altitude_acceptance_radius 
to altitude_acceptance
 2018-09-24 11:23:01 +02:00
Martina 40650ee2c7 FlightTaskAuto: check avoidance progress only for multicopter 2018-09-24 11:23:01 +02:00
Martina 07eb0b697e FlightTaskAuto: don't create vectors from pointers 2018-09-24 11:23:01 +02:00
Martina ba4e633bd4 FlightTaskAuto: check avoidance progress only if avoidance is active 2018-09-24 11:23:01 +02:00
Martina cef7673969 FlightTaskAuto: calculate the new altitude acceptance radius if the vehicle 
is inside the xy acceptance radius but not inside the z acceptance radius
 2018-09-24 11:23:01 +02:00
Martina fffb479edf navigator_main: use the altitude acceptance radius from the pos control if 
it is greater than the one in the mission item
 2018-09-24 11:23:01 +02:00
Martina b8e46d3323 position_controller_status: add altitude acceptance radius 2018-09-24 11:23:01 +02:00
Martina 7031bb5a6d navigator: add yaw_acceptance getter to incorporate feedback from position 
controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
 2018-09-24 11:23:01 +02:00
Martina a5a204004b FlightTaskAuto: add check for xy mission progress 2018-09-24 11:23:01 +02:00
Martina Rivizzigno 21f6ca4a1f mc_pos_control: fix desired trajectory waypoint. (#10372) 
- The first waypoint contains the vehicle current position and the desired velocity setpoint
 2018-08-31 17:28:15 -04:00
Martina Rivizzigno 854e4ef3de mc_pos_control_main: fix typo (#10274) 2018-08-20 10:56:43 -04:00
Martina c905a73e2e remove FLightTask Orbit from fmu-v2 target 2018-08-09 16:38:47 -04:00
Martina 2d9bbeb7ed FlightTaskAuto: use the triplets from navigator and not with the internal 
ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription
 2018-08-09 16:38:47 -04:00
Martina 8096e84133 FlightTask: add padding to empty_trajectory_waypoint definition 2018-08-09 16:38:47 -04:00
Martina 10988f5bf1 FlightTask: add comment for method getAvoidanceWaypoint 2018-08-09 16:38:47 -04:00
Martina aef41a1378 remove empty lines 2018-08-09 16:38:47 -04:00
Martina da2191b721 mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance 2018-08-09 16:38:47 -04:00
Martina 0694abf916 mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance 
active
 2018-08-09 16:38:47 -04:00
Martina 4b54050358 mc_pos_control: get empty avoidance waypoint from fligth task so that code 
isn't duplicated
 2018-08-09 16:38:47 -04:00
Martina ede302290b FlightTasks: add getter method to retrieve empty avoidance waypoint in the 
mc_pos_control
 2018-08-09 16:38:47 -04:00
Martina 8190242e02 mc_pos_control: port trajectory interface to the new mc_pos_control 
structure (flight task refactor)
 2018-08-09 16:38:47 -04:00
Martina b856c1048d FlightTask: add methods to get the desired trajectory waypoints 2018-08-09 16:38:47 -04:00
Martina 17a08a9de7 FlightTaskAuto: add update method to get triplets for the trajectory 
interface
 2018-08-09 16:38:47 -04:00
Martina 3fe2646d80 FlightTaskAuto: add comments and fix variable naming convention 2018-08-02 09:23:17 +02:00
Martina e13ca0d990 FlightTaskAuto: fix triplet reset 2018-08-02 09:23:17 +02:00
Martina f379035a3b FlightTaskAuto: move generation of the the internal waypoints to FlightTaskAuto such that they are available to all derived classes. 
Change logic to update the internal triplets only when the navigator triplets have changed or when the vehicle state has changed.
 2018-08-02 09:23:17 +02:00
Martina ade254394e fix parameters subscription 2018-08-02 09:23:17 +02:00
Martina 3f2f399b91 FlightTaskAutoMapper: clean-up and fix comments 2018-08-02 09:23:17 +02:00
Martina d85481be6d Restructure FlightTaskAutoLine: 
-add FlightTaskAutoMapper that handles the different types of waypoint and
generates setpoints for all types except of position and loiter
- FlightTaskAutoLine generates the setpoint types position and loiter if
the flight between waypoint is a straight line
 2018-08-02 09:23:17 +02:00
Martina 24413c6192 mavlink_messages: rename MavlinkStreamTrajectory -> MavlinkStreamTrajectoryRepresentationWaypoints 2018-07-18 05:12:39 -04:00
Martina c9d27b65ef mavlink_main: stream trajetcory_presententation_waypoints instead of trajectory 2018-07-18 05:12:39 -04:00
Martina 02d360c33a update trajectory message to trajectory_representation_waypoint as in mavlink 2018-07-18 05:12:39 -04:00
Martina 84d22fe0c6 logger: trajectory_waypoint -> vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina e7cf2c5675 remove unused trajectory_bezier message 2018-07-12 16:36:11 -04:00
Martina 5cd0da95cc mc_pos_control_params: add type boolean to MPC_OBS_AVOID parameter 2018-07-12 16:36:11 -04:00
Martina 064a6dd2fd mc_pos_control: fix rebase mistake 2018-07-12 16:36:11 -04:00
Martina d6ea735b18 make format 2018-07-12 16:36:11 -04:00
Martina 492e40a139 mc_pos_control: enable obstacle avoidance only in mission and rtl 2018-07-12 16:36:11 -04:00
Martina f42095af8f mavlink_messages: refactor to use vehicle_trajectory_waypoint instead of trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina da2df5708b mc_pos_control: refactor to use vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina 2a40d001de mavlink_receiver: refatcor to use vehicle_trajectory_waypoint 2018-07-12 16:36:11 -04:00
Martina 00bc70a49c trajectory_waypoint: refactor to contain information about one of the 5 
points of the trajectory
 2018-07-12 16:36:11 -04:00
Martina c15f2e45d6 add vehicle_trajectory_waypoint message 2018-07-12 16:36:11 -04:00
Martina 53a528b01b nuttx_omnibus-f4sd_default: disable bl_update, wind_estimator, gnd_att_control, gnd_pos_control to save flash 2018-07-12 16:36:11 -04:00
Martina f3a7886fbf trajectory_bezier: remove yaw_speed define 2018-07-12 16:36:11 -04:00
Martina 87cd110044 mavlink_receiver: make format 2018-07-12 16:36:11 -04:00
Martina 33b1b13432 mc_pos_control: replace define with parameter to enable/disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 6cceca6fe5 mc_pos_control_params: add parameter to enable and disable obstacle 
avoidance
 2018-07-12 16:36:11 -04:00
Martina 8662c71d82 logger: enable trajectory_waypoint and trajectory_waypoint_desired logging 2018-07-12 16:36:11 -04:00
Martina c9fcc6b7d5 trajectory_waypoint: add comment to explain the use of the two topics 
trajectory_waypoint and trajectory_waypoint_desired
 2018-07-12 16:36:11 -04:00
Martina 1144b66a70 mc_pos_control: temporary solution to enable and disable the execution of 
obstacle avoidance waypoints
 2018-07-12 16:36:11 -04:00
Martina c5d62b5524 mc_pos_control: use local frame position setpoint from triplets calculated 
in the pos_control and not coming from navigator. Refactor method
update_avoidance_waypoint_desired since all waypoints have the same type
 2018-07-12 16:36:11 -04:00
Martina 26ca09f824 mc_pos_control: fix typo 2018-07-12 16:36:11 -04:00
Martina 35cf00dd5e trajectory message: change sp to wp 2018-07-12 16:36:11 -04:00
Martina 59c7fc5d96 mc_pos_control: use one method to wrap yaw speed instead of triplicate 
code
 2018-07-12 16:36:11 -04:00
Martina 8b20c66cfc mc_pos_control: use desired velocity to calculate vel_sp_along_track_prev 
if obstacle avoidance is running
 2018-07-12 16:36:11 -04:00
Martina d39b969e72 mc_pos_control: refactor the update of the desired waypoints for avoidance 
to eliminate duplicated code
 2018-07-12 16:36:11 -04:00
Martina 9bdc9aada2 mc_pos_control: use defines for point size and number of points in 
trajectory_waypoint
 2018-07-12 16:36:11 -04:00
Martina c84e651edd trajectory_waypoint: add defines for point size and number of points 2018-07-12 16:36:11 -04:00
Martina a11c6235fe mc_pos_control: uses consistent naming for desired waypoints 2018-07-12 16:36:11 -04:00
Martina 272d7ca4cd mc_pos_control: use consistent naming for position waypoints 2018-07-12 16:36:11 -04:00
Martina 3fa094cb6b mc_pos_control: use same notation for velocity waypoints 2018-07-12 16:36:11 -04:00
Martina 6e7f1d249e bezier: fix index description 2018-07-12 16:36:11 -04:00
Martina 31d675fd95 mc_pos_control: add interface to send desired position and velocity 
waypoint to the obstacle avoidance module
 2018-07-12 16:36:11 -04:00
Martina b33a708215 mc_pos_control: add vel_sp_desired to send desired velocity to the 
obstacle avoidance
 2018-07-12 16:36:11 -04:00