Matthias Grob
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089ebcbfa4
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FlightTaskManual: fix two very stupid mistakes in the yaw hold logic
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7 years ago |
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Matthias Grob
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37e0f91c39
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FlightTaskSport: scale maximal stick input to maximal allowed velocity instead of being hardcoded for testing
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7 years ago |
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Matthias Grob
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6c0acf8e13
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FlightTaskManual: enable non-carrot velocity method also for yaw
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7 years ago |
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Matthias Grob
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975ac11635
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mc_pos_control: enable yawspeed execution for tasks
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7 years ago |
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Matthias Grob
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a896332746
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FlightTaskManual: fixed stick vector index bug and enabled basic yaw setpoint control
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7 years ago |
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Matthias Grob
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a00c3e4024
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FlightTaskSport: created a simple child class of FlightTaskManual that can scale the velocity to a much higher value
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7 years ago |
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Matthias Grob
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de872ca047
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FlightTaskManual: remove the smoothing from the task to add it later in a child class
also separated the velocity scaling to enable sport mode
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7 years ago |
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Matthias Grob
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6070d72308
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FlightTasks: Various review refactoring
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7 years ago |
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Matthias Grob
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4d0dca5dd5
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FlightTask: make applyCommandParameters getting called recursively & pass command by reference
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7 years ago |
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Matthias Grob
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4bb3692020
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FlightTask: remove unused declaration of old position evaluation method
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7 years ago |
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Matthias Grob
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fd93e55527
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FlightTaks: prevent running a new task with default parameters because they got rejected
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7 years ago |
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Matthias Grob
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d9c7e6321f
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FlightTasks: Introduce the empty setpoint to reset the setpoint for every loop iteration and return it in case of no task running
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7 years ago |
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Matthias Grob
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c500221894
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FlightTasks: move methods of the class header into the cpp
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7 years ago |
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Matthias Grob
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efd240904f
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FlightTasks: added possibility to apply task parameters from the vehicle command
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7 years ago |
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Matthias Grob
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b1f24da05e
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FlightTasks: enable mavlink command handling for switching tasks including acknowledgement
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7 years ago |
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Matthias Grob
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6ec9ff64d1
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FlightTaskManual/Orbit: make sure we are not required stick input data during orbit
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7 years ago |
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Matthias Grob
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e5d237088c
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FlightTasks: refactoring for CamelCase naming convention, small comment and declaration order renicements
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7 years ago |
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Matthias Grob
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888a63c001
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FlightTasks: bool return values for clarity & introduce updateInitialize() to have input data fetching separated from the update()
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7 years ago |
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Matthias Grob
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e44733a03c
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FlightTasks: small refactor for review comments
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7 years ago |
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Matthias Grob
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1906b5b635
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FlightTasks: remove all remaining unnecessary semicolons
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7 years ago |
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Matthias Grob
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5efb298ed9
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FlightTasks: use forced update just after initialization
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7 years ago |
Beat Küng
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737f7df6b8
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Subscription & SubscriptionArray: add forcedUpdate() methods
Can be used to immediately get & use the data, as needed for the flight
tasks.
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7 years ago |
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Matthias Grob
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071b09c65d
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FlightTasks: initialize task state based on subscriptions after the SubscriptionArray was initialized
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7 years ago |
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Beat Küng
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b0fdbf5136
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FlightTask: inherit from Block instead of SuperBlock
I think this is more how it's meant to be
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7 years ago |
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Beat Küng
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9b571abb47
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FlightTasks: add SubscriptionArray class that contains all subscriptions
This is to avoid dynamic (re-)allocations on task switching, due to
orb_{un,}subscribe calls.
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7 years ago |
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Beat Küng
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b5ecf9824d
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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.
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7 years ago |
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Matthias Grob
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99eb051c0f
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FlightTasks: adapt POSIX convention to return negative values on error
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7 years ago |
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Matthias Grob
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8a4d51c630
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FlightTasks: replaced all hrt_elapsed() calls and unneeded hrt_ calls to safe performance
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7 years ago |
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Matthias Grob
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9fdb3ace0c
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FlightTask: added setter for yawspeed and removed newlines in comments
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7 years ago |
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Matthias Grob
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dd53d1df5f
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FlightTask: use copyToRaw matrix method in setpoint setters
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7 years ago |
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Matthias Grob
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919d0d6483
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msg: vehicle_local_position_setpoint: add yawspeed as a state you can control
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7 years ago |
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Matthias Grob
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2dd61f71d1
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FlightTask: fix doxygen comment /**< instead of /*<
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7 years ago |
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Matthias Grob
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c1056d307c
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FlightTask: move setter back into header and switched argument to reference to have them inlined by the compiler
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7 years ago |
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Matthias Grob
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e597a9c0a1
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FlightTasks: fix review comments
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7 years ago |
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Matthias Grob
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e193240e98
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FlightTask: fix CI: static field requiring definition in cpp file, errors with clang linker (CI) but not with GCC
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7 years ago |
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Matthias Grob
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23fe822955
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FlightTasks: private variables follow underscore name convention, member description comments doxygen style
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7 years ago |
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Matthias Grob
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6488acf8cd
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msg: vehicle_local_position_setpoint comment about usage of NaN
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7 years ago |
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Matthias Grob
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92acbfde3e
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FlightTasks: FlightTask definition to cpp, fix include chain, fix cmake
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7 years ago |
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Matthias Grob
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c211c807ad
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FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library
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7 years ago |
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Matthias Grob
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3450ccb2b2
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FlightTaskOrbit: Fix zero vector resulting in NaN output and ignored setpoint
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7 years ago |
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Matthias Grob
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a570390dfb
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FlightTasks: enable usage of yaw setpoint through position controller
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7 years ago |
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Matthias Grob
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e49f80eaa8
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FlightTasks: switched output setpoint to reference getter, FlightTask holds it's data
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7 years ago |
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Matthias Grob
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d48ba8be72
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FlightTask: move position and stick data subscription into tasks, Orbit introduce variable center position
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7 years ago |
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Matthias Grob
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0aeea44780
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FlightTask: fixed time initialization issues
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7 years ago |
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Matthias Grob
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582990c0af
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FlightTasks: revised task switching algorithm to catch errors during activation of a new task and make it more readable
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7 years ago |
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Matthias Grob
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edd5ed1349
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FlightTaskManual: remove unnecessary subscription which is deprecated anyways
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7 years ago |
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Matthias Grob
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76a0b9f736
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FlightTaskManual: Smooth flight integration: refactored and checked get_acceleration_z
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7 years ago |
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Matthias Grob
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6fb4c79234
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FlightTaskManual: Smooth flight integration: refactored and checked second half of get_acceleration_xy executing the intention
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7 years ago |
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Matthias Grob
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42708ea456
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FlightTaskManual: Smooth flight integration: refactored and checked first half of get_acceleration_xy determining the xy user intention
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7 years ago |
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Matthias Grob
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56b54d7b85
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FlightTaskManual: Smooth flight integration: prepare interface of acceleartion methods for xy and z
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7 years ago |
