81da94ff46
PositionControl: Anti-windup that uses max in NE based on tilt limit and remaining throttle
...
excess
7 years ago
f99471f34c
PositionControl: refactor remove Data define for Vector
...
This define results in super unreadable code.
7 years ago
2405baa2c9
FlightTasks: fix manual mode takeoff
...
With the new position control architercture manual mode and
potition mode run through the same logic and as a result
it had a throttle thershold for smooth takeoff also in
manual mode. This is fixed by by ignoring the threshold for
any mode which doesn't control the climb rate.
7 years ago
4bf33339dc
FlightTaskManualStabilized: remove double limit of yawspeed
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The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
7 years ago
eaf4f99e38
FlightTasks: adapt tasks to member setpoints
...
The FlightTaskManual... tasks already had their internal
setpoint member variables. I switched them to use the
architecture with setpoint member variables as it was
implemented the commit before. They simplify a lot.
7 years ago
309237c4a2
FlightTasks: replace setpoint setters with members
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I realized that instead of using the setpoint setters inline
in real world tasks everyone started to have its own setpoint
member variable and only call the setter in the end for all the
privatly generate setpoints. This makes the setter useless and
therefore I switched to member setpoints in the architecture.
They bring more felxibility which is obviously needed but also
less structure which is the price to pay.
7 years ago
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
...
# 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
Dennis Mannhart
Matthias Grob
Dennis Mannhart
Dennis Mannhart
Alessandro Simovic