7a4ac739f1
Fix Stack warning
7 years ago
345f6367a5
av-x remove mc_pos_control_tests
7 years ago
18a3c08659
mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF
7 years ago
ab1ae1fb4e
mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid
7 years ago
9362f844f4
position control: fix failsafe thrust
...
invert direction to point upwards and increase to 70% of throttle range between min and hover
7 years ago
7cc85885a4
position control: set _skip_controller before calling _interfaceMapping()
...
Without this failsafe will be overwritten
7 years ago
80867343ab
mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid
7 years ago
260284571d
mc_pos_control: move failsafe logic into method
7 years ago
ac2c49218d
mc_pos_control: remove mavlink_log_info
7 years ago
f11a65a74f
mc_pos_control: fix overwrite for state velocity
7 years ago
f2d559a4c2
mc_pos_control: minor refactor
7 years ago
cc0bc05156
mc_att_control: remove useless parameter MC_YAW_FF
...
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
7 years ago
b5731e0ccd
FlightTaskOffboard: only start task if control mode flags are met
7 years ago
bf4ac7a9d6
mc_pos_control: for terrain following use range sensor climbrate for velocity estimate
7 years ago
eb7139bc56
FlightTaskManualAltitude: respect maximum altitude if there is a valid distance sensor
7 years ago
c907e7a9dc
FlighttaskManualAlititude: replace SENS_FLOW_MINRNG with hagl_min
7 years ago
4af9d79986
FlighttaskManualPosition: check if estimator velocity maximum is finite
...
before applying limits
7 years ago
efed766919
FlightTasks: small rebase naming and typo fixes
7 years ago
e51e1bbe74
mc_pos_control: replace legacy refactor
...
Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.
This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.
7 years ago
29fb5089bd
FlightTasks: construct all tasks in constructor
7 years ago
b1530d1a81
FlightTasks: create struct that contains FlightTask and FlightTaskIndex
7 years ago
83cc2b0e72
FlightTaskAuto: reset lock position to NAN
7 years ago
c12dcb4eed
FlightTaskAuto: take care of case when triplet.lat/lon are invalid, which corresponds
...
to position lock.
7 years ago
65ad6edaf0
ManualSmoothingXY: remove empty lines
7 years ago
b9d5189fe5
ManualSmoothing: direction change with maximum acceleration
7 years ago
a5e8eb23ad
PositionControl: saturate thrust integral
7 years ago
5ffcb6af01
PositionControl: set vel_dot to 0 if NAN
7 years ago
33d0a4e8ed
FlightTaskAuto: replace target with destination for checks
7 years ago
92e93639d3
FlightTaskAuto: require valid position in 3D
7 years ago
c4c01358b9
FlightTaskManualAltitude: do terrain following when distance sensor active and
...
below minimum distance to ground.
7 years ago
bd85f5f993
FlightTask: set min_distance_to_ground to NAN as default and when
...
distance sensor is used to SENS_FLOW_MINRNG
7 years ago
80775d588b
vehicle constraints: minimum distance to ground. currently used when distance sensor
...
is available
7 years ago
ee7d5c3f38
FlightTaskAuto: remove unused member variable
7 years ago
7b13803e2c
PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust
7 years ago
f30bf215db
MulticopterLanddetector: adjust minimum throttle if climb-reate is not enabled
7 years ago
e408870857
FlightTaskManual: remove unused override
7 years ago
be6f3a5b48
FlightTaskOffboard: valid position and velocity is required
7 years ago
bd2de0e585
FlightTaskAuto: valid target is required and valid reference
7 years ago
4713f47668
FlightTaskManualPosition: valid position/velocity in xy required
7 years ago
72a213aff7
FlightTaskManualAltitude: valid altitude/climb-rate is required
7 years ago
fc4fa169df
FlightTaskManualStabilized: valid yaw is required
7 years ago
2af253fa9f
FlightTaskManual: sticks not to be finite
...
activation method not needed
7 years ago
6a7a7d7ff7
FlightTask: check if states are valid. if not valid, set them to NAN
7 years ago
e8620708b3
PositionControl: set states to zero if not valid
7 years ago
b2af9c3f58
FlightTasks: error to char string message
7 years ago
afd02aca92
FlightTask: fail activation if required states are not available
7 years ago
e6f6e2085c
ControlMath: remove false comment
7 years ago
3ea7f8783f
FlightTaskManualAltitude: fix comment
7 years ago
414f38b677
test_controlmath: work around for internal compiler error: in trunc_int_for_mode, at explow.c:55
7 years ago
c56ae130a7
test_controlmath remove static
7 years ago
David Sidrane
Daniel Agar
Dennis Mannhart
ChristophTobler
Matthias Grob
Dennis Mannhart