PositionControl: update comment about the order of thrust and position
mc_pos_control: reset setpoints to NAN if required
MulticopterLandDetector: consider to be landed if vehicle is not armed
mc_pos_control: initialize landing struct with landed
mc-pos-ctrl: adjust thrust-setpoint and yaw during ground-contact/maybe-landed without capturing
that information within vehicle-local-position-setpoint topic because that information
does not belong to user intention
PositionControl: set local position/velocity setpoint to NAN if not used in the control pipeline
mc-pos-ctrl: Fill vehicle_local_position_setpoint_s structure as follow:
The message contains setpoints where each type of setpoint is either the input to the PositionController
or was generated by the PositionController and therefore corresponds to the PositioControl internal states (states that were generated by P-PID).
Example:
If the desired setpoint is position-setpoint, _local_pos_sp will contain
position-, velocity- and thrust-setpoint where the velocity- and thrust-setpoint were generated by the PositionControlller.
If the desired setpoint has a velocity-setpoint only, then _local_pos_sp will contain valid velocity- and thrust-setpoint, but the position-setpoint
will remain NAN. Given that the PositionController cannot generate a position-setpoint, this type of setpoint is always equal to the input to the
PositionController.
mc_pos_control: switch to designated initializer for landed
It's less error prone because it produces an error on every discrepancy.
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
It turns out that `sendto` does not work for TCP on Cygwin-Windows,
instead we need to use `send`. This required some refactoring since we
need to have the internet protocol and the port stored as a member
variable.
This should fix that lockstep SITL simulation was not working on
Windows.
Florian Olbrich
Beat Küng
Kevin Lopez Alvarez
Jake Dahl
AnnaDaiZH
David Sidrane
Daniel Agar
Julian Oes
Dennis Mannhart
Hamish Willee
TSC21
Alessandro Simovic
karliss
Jacob Dahl
Lorenz Meier
Matthias Grob
bazooka joe