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Author SHA1 Message Date
stmoon
3ec37aa186 clarify the codes of LPE 2018-04-08 11:13:47 -04:00
Daniel Agar
3b64325ff8 update px4fmu_test and add px4fmu-v2_test to Jenkins 2018-04-07 22:32:53 -04:00
Beat Küng
f1f72c70e0 commander: immediately publish kill switch state change 2018-04-06 11:29:49 +02:00
barzanisar
d025eb0da0 explaining why we send 30 bytes crtp msg data instead of 31 2018-04-05 18:11:03 +02:00
barzanisar
7ac3c97aad Improve the Crazyflie MAVLink tunnel to increase efficiency 
This change fragments MAVLink packets more efficiently and therefore increases the net throughput. This in turn makes the connection significantly more stable and the Crazyflie experience overall more usable.
 2018-04-05 18:11:03 +02:00
Roman
d6a86dfa56 tailsitter: do not condition transition on airspeed if airspeed disabled 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-05 08:48:36 +02:00
Daniel Agar
23d25f2a22 aerocore2 config remove telemetry modules, FW and GND controllers 2018-04-05 07:30:12 +02:00
Dennis Mannhart
48fa3fbca3 PositionControl: thrust setpoint check with fabsf 2018-04-05 07:30:12 +02:00
Dennis Mannhart
26ffda5079 PositionControl: replace matrix length() method with simple dot-product to safe compuation 2018-04-05 07:30:12 +02:00
Dennis Mannhart
0c6c771620 ControlMath: remove unused methods 2018-04-05 07:30:12 +02:00
Dennis Mannhart
81da94ff46 PositionControl: Anti-windup that uses max in NE based on tilt limit and remaining throttle 
excess
 2018-04-05 07:30:12 +02:00
Matthias Grob
f99471f34c PositionControl: refactor remove Data define for Vector 
This define results in super unreadable code.
 2018-04-05 07:30:12 +02:00
Matthias Grob
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.
 2018-04-05 07:30:12 +02:00
Matthias Grob
4bf33339dc FlightTaskManualStabilized: remove double limit of yawspeed 
The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
 2018-04-05 07:30:12 +02:00
Matthias Grob
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.
 2018-04-05 07:30:12 +02:00
Matthias Grob
309237c4a2 FlightTasks: replace setpoint setters with members 
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.
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
e15240d3ad FlightTask: only allow for position and alitude control without smoothing. 
This commit is only done to enable incremental testing of Flighttask.
 2018-04-05 07:30:12 +02:00
Matthias Grob
dc60bc8766 mc_pos_control: enable flight tasks 
instantiate flight tasks and the refactored position controller class
only use the new functionality if a temporary parameter is set for testing
 2018-04-05 07:30:12 +02:00
Matthias Grob
0dcad42f57 mc_pos_control: refactor, indent control block 
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.
 2018-04-05 07:30:12 +02:00
Matthias Grob
5ee136fe10 mc_pos_control: refactor, move landed thrust reduction into function 
and make it use matrix library for flight task compatibility

# Conflicts:
#	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2018-04-05 07:30:12 +02:00
Matthias Grob
fabf214bca mc_pos_control: refactor, move smooth takeoff velocity into a function 
# Conflicts:
#	src/modules/mc_pos_control/mc_pos_control_main.cpp
 2018-04-05 07:30:12 +02:00
Matthias Grob
d5f90a1503 FlightTasks: add library to cmake configurations 
all the ones with mc_pos_control need the library, we should use cmake dependencies!
 2018-04-05 07:30:12 +02:00
Matthias Grob
8b4471d842 FlightTasks: comment out mavlink command processing 
because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again
 2018-04-05 07:30:12 +02:00
Matthias Grob
cf48ceb428 Revert "Subscription remove unused instance class member" 
This reverts commit cf2d794da9.
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
88cf2aebc6 PositionControl: comment fix + unused parameter removal 2018-04-05 07:30:12 +02:00
Dennis Mannhart
421aeb69d8 FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based 
on vehicle rotation in yaw
 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ab8527cc8f FlightTaskManualStabilized: limit manual yaw rate in flighttask 2018-04-05 07:30:12 +02:00
Dennis Mannhart
03b3026e18 PositionControl: remove unused parameters 2018-04-05 07:30:12 +02:00
Dennis Mannhart
67900512ab PositionControl: remove legacy yaw logic 2018-04-05 07:30:12 +02:00
Dennis Mannhart
017576262c FlightTaskManual: replace yaw with yaw_sp for rotation 2018-04-05 07:30:12 +02:00
Dennis Mannhart
ec79b2f8c8 ControlMath: don't consider sign when vector length is 0 2018-04-05 07:30:12 +02:00
Dennis Mannhart
bd37c274c6 PositionControl: parameter naming fix 2018-04-05 07:30:12 +02:00
Dennis Mannhart
59bddf339a ManualSmoothingXY: brake with large default jerk max 2018-04-05 07:30:12 +02:00
Dennis Mannhart
25c33d18b0 FlightTaskSport: just scale velocity septoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
fc62df856d ControlMath: reference to by value 2018-04-05 07:30:12 +02:00
Dennis Mannhart
16d6ac6ad1 FlightTaskManualStabilized: check for 0 maximum tilt and scale throttle linearly 2018-04-05 07:30:12 +02:00
Dennis Mannhart
7f406aa251 FlightTaskManualSmoothingZ: remove empty space 2018-04-05 07:30:12 +02:00
Dennis Mannhart
6538a7e88c FlightTaskSport: replace rotation by axis angle 2018-04-05 07:30:12 +02:00
Dennis Mannhart
5bd2afa7be FlightTaskManualPositionSmooth: remove unused mehthods and member variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart
d6fe2159ae FlightTaskManualPosition: remove update method and old member variable setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart
a7f4859698 FlightTaskManualAltitudeSmooth: remove unused member methods/variables 2018-04-05 07:30:12 +02:00
Dennis Mannhart
c15b114cad FlightTaskManualAltitude: remove member setpoints and update method 2018-04-05 07:30:12 +02:00
Dennis Mannhart
4b49b0ed7a FlightTaskManualStabilized: update method that sets all member setpoints 2018-04-05 07:30:12 +02:00
Dennis Mannhart
2db2ef824b FlightTaskManual: move all setpoints into base class 2018-04-05 07:30:12 +02:00
Dennis Mannhart
2e9cb659c9 FlightTaskManual: method to reset all members setpoints to NAN 2018-04-05 07:30:12 +02:00
Dennis Mannhart
52eeb02549 empty setpoint add NAN for thrust, add comment 2018-04-05 07:30:12 +02:00
Dennis Mannhart
fb2ce062e4 FlightTask: rebse fix for empty setpoint 2018-04-05 07:30:12 +02:00
Dennis Mannhart
f2f5f41641 FlightTaskManualSmoothing: change name of method 2018-04-05 07:30:12 +02:00
Dennis Mannhart
01073d36e5 FlightTaskManualPosition: use axis angle to rotate into world frame 2018-04-05 07:30:12 +02:00
Matthias Grob
d22af4679d FlightTaskManualAltitude/Position: renamed and recommented velocity hold threshold 2018-04-05 07:30:12 +02:00