e15240d3ad
FlightTask: only allow for position and alitude control without smoothing.
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This commit is only done to enable incremental testing of Flighttask.
7 years ago
dc60bc8766
mc_pos_control: enable flight tasks
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instantiate flight tasks and the refactored position controller class
only use the new functionality if a temporary parameter is set for testing
7 years ago
0dcad42f57
mc_pos_control: refactor, indent control block
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individual commit for the indentation because otherwise
the diff gets unreadable. this indentation is made because
afterwards the entire legacy position control functionality
is in an else case.
7 years ago
5ee136fe10
mc_pos_control: refactor, move landed thrust reduction into function
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and make it use matrix library for flight task compatibility
# Conflicts:
# src/modules/mc_pos_control/mc_pos_control_main.cpp
7 years ago
fabf214bca
mc_pos_control: refactor, move smooth takeoff velocity into a function
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# Conflicts:
# src/modules/mc_pos_control/mc_pos_control_main.cpp
7 years ago
d5f90a1503
FlightTasks: add library to cmake configurations
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all the ones with mc_pos_control need the library, we should use cmake dependencies!
7 years ago
8b4471d842
FlightTasks: comment out mavlink command processing
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because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
7 years ago
cf48ceb428
Revert "Subscription remove unused instance class member"
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This reverts commit cf2d794da9
7 years ago
88cf2aebc6
PositionControl: comment fix + unused parameter removal
7 years ago
421aeb69d8
FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based
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on vehicle rotation in yaw
7 years ago
ab8527cc8f
FlightTaskManualStabilized: limit manual yaw rate in flighttask
7 years ago
03b3026e18
PositionControl: remove unused parameters
7 years ago
67900512ab
PositionControl: remove legacy yaw logic
7 years ago
017576262c
FlightTaskManual: replace yaw with yaw_sp for rotation
7 years ago
ec79b2f8c8
ControlMath: don't consider sign when vector length is 0
7 years ago
bd37c274c6
PositionControl: parameter naming fix
7 years ago
59bddf339a
ManualSmoothingXY: brake with large default jerk max
7 years ago
25c33d18b0
FlightTaskSport: just scale velocity septoint
7 years ago
fc62df856d
ControlMath: reference to by value
7 years ago
16d6ac6ad1
FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly
7 years ago
7f406aa251
FlightTaskManualSmoothingZ: remove empty space
7 years ago
6538a7e88c
FlightTaskSport: replace rotation by axis angle
7 years ago
5bd2afa7be
FlightTaskManualPositionSmooth: remove unused mehthods and member variables
7 years ago
d6fe2159ae
FlightTaskManualPosition: remove update method and old member variable setpoints
7 years ago
a7f4859698
FlightTaskManualAltitudeSmooth: remove unused member methods/variables
7 years ago
c15b114cad
FlightTaskManualAltitude: remove member setpoints and update method
7 years ago
4b49b0ed7a
FlightTaskManualStabilized: update method that sets all member setpoints
7 years ago
2db2ef824b
FlightTaskManual: move all setpoints into base class
7 years ago
2e9cb659c9
FlightTaskManual: method to reset all members setpoints to NAN
7 years ago
52eeb02549
empty setpoint add NAN for thrust, add comment
7 years ago
fb2ce062e4
FlightTask: rebse fix for empty setpoint
7 years ago
f2f5f41641
FlightTaskManualSmoothing: change name of method
7 years ago
01073d36e5
FlightTaskManualPosition: use axis angle to rotate into world frame
7 years ago
d22af4679d
FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold
7 years ago
6fb9ca3b0c
FlightTasks: corrected comment and sorted out unnecessary includes
7 years ago
e1a81c7978
FlightTaskManual: remove unnecessary activate method
7 years ago
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
7 years ago
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
7 years ago
f8e4e82bba
snapdragon: Applied camelCasing
7 years ago
01ecb05341
snapdragon: changed constexpr to const in FlightTask so that it would compile
7 years ago
50c1eba392
snapdragon: fixed compiler shadow warning, function name was identical as a variable name
7 years ago
cc41d8ccab
snapdragon: added missing includes
7 years ago
ca046af8ca
clang-tidy: don't check for pass-by-value optimization
7 years ago
d64b59b95f
FlightTaskUtility: remove duplicate slewrate
7 years ago
c1bb0cbdcc
smoothing xy: remove unused variable
7 years ago
23b294b434
tests smoothz: fix fabsf and consider rest once previous velocity is zero
7 years ago
59f3de192f
ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped
7 years ago
13eb79ffb8
FlightTasks: fix class name
7 years ago
bb00f6d737
FlightTaskManualPosition: update to new smoothing interface
7 years ago
4f17fb1303
ManualSmoothingXY: detect alignement based on body frame; do direction change only if not yawspeed is demanded
7 years ago
Dennis Mannhart
Matthias Grob
Dennis Mannhart
Dennis Mannhart
Alessandro Simovic