Dennis Mannhart
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6daf78494a
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TranslationControl: adjust direction based on constrainPIDu inputs
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7 years ago |
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Dennis Mannhart
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75b6af77de
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ControlMath: fix index and don't adjust sign with method but rather function caller
needs to adjust for sign
|
7 years ago |
|
Dennis Mannhart
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19d50f9511
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ControlMath: index fix and scaling fix
|
7 years ago |
|
Dennis Mannhart
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c9cd920642
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rename VectorMath to ControlMath
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7 years ago |
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Dennis Mannhart
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820d6e866f
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TransitionControl: replace thrust constraints with VectorMath functions;
temporary: remove thrust projection onto body frame
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7 years ago |
|
Dennis Mannhart
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41a5ea6daa
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Multicoper position control: function file for controller specific functions
|
7 years ago |
|
Dennis Mannhart
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6ffa7a96ba
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mc_pos_control: method for publishing attitude and local_pos_sp
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7 years ago |
|
Dennis Mannhart
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6e63ddacd2
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yaw setpoint: add math::radians
|
7 years ago |
|
Dennis Mannhart
|
f0f84d300b
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TranslationControl: move mc_pos_control related logic into TranslationControl
|
7 years ago |
|
Dennis Mannhart
|
9ac32a764f
|
TranslationControl added to CmakeLists.txt
|
7 years ago |
|
Dennis Mannhart
|
85c1627c74
|
TranslationControl: new class that generates thrust vector from state and setpoints
|
7 years ago |
|
Dennis Mannhart
|
6adc1755cc
|
FlightTaskManualPosition: most basic implementation
|
7 years ago |
|
Dennis Mannhart
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b5c19f6483
|
FligtTaskManualAltitude: split functionality such that scale_stick values and the update_setpoints can be overwritten
|
7 years ago |
|
Dennis Mannhart
|
ea61af3164
|
FlightTaskManualAltitude: added to lib
|
7 years ago |
|
Dennis Mannhart
|
4f5fa33e74
|
FlightTaskManualAltitude: scale stick z to velocity
|
7 years ago |
|
Dennis Mannhart
|
4dfd9ce8ed
|
FlightTaskOrbit: replace sticks (which are now linear) with expo
|
7 years ago |
|
Dennis Mannhart
|
e076825d78
|
FlightTaskManual: remove everything except of stick mapping
|
7 years ago |
Matthias Grob
|
2b6e356c91
|
FlightTaskManual: fix for the sideways oscillations in fast foward flight when using the vehicle yaw estimate
|
7 years ago |
|
Matthias Grob
|
089ebcbfa4
|
FlightTaskManual: fix two very stupid mistakes in the yaw hold logic
|
7 years ago |
|
Matthias Grob
|
37e0f91c39
|
FlightTaskSport: scale maximal stick input to maximal allowed velocity instead of being hardcoded for testing
|
7 years ago |
|
Matthias Grob
|
6c0acf8e13
|
FlightTaskManual: enable non-carrot velocity method also for yaw
|
7 years ago |
|
Matthias Grob
|
975ac11635
|
mc_pos_control: enable yawspeed execution for tasks
|
7 years ago |
|
Matthias Grob
|
a896332746
|
FlightTaskManual: fixed stick vector index bug and enabled basic yaw setpoint control
|
7 years ago |
|
Matthias Grob
|
a00c3e4024
|
FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value
|
7 years ago |
|
Matthias Grob
|
de872ca047
|
FlightTaskManual: remove the smoothing from the task to add it later in a child class
also separated the velocity scaling to enable sport mode
|
7 years ago |
|
Matthias Grob
|
6070d72308
|
FlightTasks: Various review refactoring
|
7 years ago |
|
Matthias Grob
|
4d0dca5dd5
|
FlightTask: make applyCommandParameters getting called recursively & pass command by reference
|
7 years ago |
|
Matthias Grob
|
4bb3692020
|
FlightTask: remove unused declaration of old position evaluation method
|
7 years ago |
|
Matthias Grob
|
fd93e55527
|
FlightTaks: prevent running a new task with default parameters because they got rejected
|
7 years ago |
|
Matthias Grob
|
d9c7e6321f
|
FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
|
7 years ago |
|
Matthias Grob
|
c500221894
|
FlightTasks: move methods of the class header into the cpp
|
7 years ago |
|
Matthias Grob
|
efd240904f
|
FlightTasks: added possibility to apply task parameters from the vehicle command
|
7 years ago |
|
Matthias Grob
|
b1f24da05e
|
FlightTasks: enable mavlink command handling for switching tasks including acknowledgement
|
7 years ago |
|
Matthias Grob
|
6ec9ff64d1
|
FlightTaskManual/Orbit: make sure we are not required stick input data during orbit
|
7 years ago |
|
Matthias Grob
|
e5d237088c
|
FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
|
7 years ago |
|
Matthias Grob
|
888a63c001
|
FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
|
7 years ago |
|
Matthias Grob
|
e44733a03c
|
FlightTasks: small refactor for review comments
|
7 years ago |
|
Matthias Grob
|
1906b5b635
|
FlightTasks: remove all remaining unnecessary semicolons
|
7 years ago |
|
Matthias Grob
|
5efb298ed9
|
FlightTasks: use forced update just after initialization
|
7 years ago |
Beat Küng
|
737f7df6b8
|
Subscription & SubscriptionArray: add forcedUpdate() methods
Can be used to immediately get & use the data, as needed for the flight
tasks.
|
7 years ago |
|
Matthias Grob
|
071b09c65d
|
FlightTasks: initialize task state based on subscriptions after the SubscriptionArray was initialized
|
7 years ago |
|
Beat Küng
|
b0fdbf5136
|
FlightTask: inherit from Block instead of SuperBlock
I think this is more how it's meant to be
|
7 years ago |
|
Beat Küng
|
9b571abb47
|
FlightTasks: add SubscriptionArray class that contains all subscriptions
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
|
7 years ago |
|
Beat Küng
|
b5ecf9824d
|
flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations
In addition, we will need some shared data structure for the uorb
subscriptions.
|
7 years ago |
|
Matthias Grob
|
99eb051c0f
|
FlightTasks: adapt POSIX convention to return negative values on error
|
7 years ago |
|
Matthias Grob
|
8a4d51c630
|
FlightTasks: replaced all hrt_elapsed() calls and unneeded hrt_ calls to safe performance
|
7 years ago |
|
Matthias Grob
|
9fdb3ace0c
|
FlightTask: added setter for yawspeed and removed newlines in comments
|
7 years ago |
|
Matthias Grob
|
dd53d1df5f
|
FlightTask: use copyToRaw matrix method in setpoint setters
|
7 years ago |
|
Matthias Grob
|
919d0d6483
|
msg: vehicle_local_position_setpoint: add yawspeed as a state you can control
|
7 years ago |
|
Matthias Grob
|
2dd61f71d1
|
FlightTask: fix doxygen comment /**< instead of /*<
|
7 years ago |
