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a134da6e1225fe65be12e970655912462ee4cb8a
Commit Graph

411 Commits

Author SHA1 Message Date
Timothy Scott
a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
Daniel Agar
79d4c09d59 uORB::Publication simplify and cleanup 
- base class is now template
 - drop linked list
 - virtualization no longer required
 2019-06-12 08:48:19 -04:00
Daniel Agar
933dd1357e navigator move print_usage() to bottom of file 2019-06-08 03:23:50 -07:00
Daniel Agar
e4ad994763 navigator move to new uORB::Subscription 2019-06-05 20:28:44 -04:00
bresch
f3990c84fc Parameter update - Rename variables in modules/navigator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
Alessandro Simovic
168f1a5d51 navigator: offboard_mission -> mission 2019-02-21 09:20:06 -05:00
Daniel Agar
26185f7c07 navigator orb subscribe/unsubscribe in constructor/destructor 2019-02-06 18:59:11 -05:00
Daniel Agar
60f2a92e3d replace <cfloat> with <float.h> 
- <cfloat> isn't available in the NuttX c++ library
 2019-01-06 19:20:57 -05:00
Julian Oes
5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Jake Dahl
21bcc0d2f4 mav_cmd_do_reposition now obeys the ground speed argument 2018-12-07 21:40:16 -05:00
Beat Küng
86673ecfcb navigator: remove dependency on vtol module by using the C param API 
This is the quickest way to achieve the desired result.
Long-term we might do something else.
 2018-10-26 08:02:42 +02:00
Beat Küng
b65871b433 fix reposition: set acceptance radius 
Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.
 2018-10-25 17:05:27 +02:00
Martina
b220e74219 navigator_main: add comment to explain yaw_acceptance usage 2018-09-24 11:23:01 +02:00
Martina
5b8ae9fb29 rename position_controller_status field from altitude_acceptance_radius 
to altitude_acceptance
 2018-09-24 11:23:01 +02:00
Martina
fffb479edf navigator_main: use the altitude acceptance radius from the pos control if 
it is greater than the one in the mission item
 2018-09-24 11:23:01 +02:00
Martina
7031bb5a6d navigator: add yaw_acceptance getter to incorporate feedback from position 
controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
 2018-09-24 11:23:01 +02:00
Roman Bapst
8158cdfcf4 navigator: set yaw_valid flag in reposition triplet (#10294) 
- yaw_valid flag was always left at false which made the position controller reject the yaw setpoint of the reposition command
 2018-09-16 19:29:38 -04:00
Daniel Agar
5207c420c3 generic position controller status/feedback message 2018-08-31 14:43:51 -04:00
Philipp Oettershagen
334aa57a5f Fixed-wing autoland: Remove the dynamic altitude acceptance calculation and just use a simple separate landing altitude acceptance radius instead. This gives users that do not use LOITER-TO-ALT waypoints more control over their landing procedure 2018-08-24 10:13:07 -04:00
Philipp Oettershagen
20c02ae093 Fixed-wing autoland: Adapt according to @dagar's and @antiheavy's comments. 2018-08-24 10:13:07 -04:00
TSC21
ca42483794 update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files 2018-07-30 21:40:28 +02:00
Daniel Agar
cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Daniel Agar
d73d20bcce systemlib delete unused systemlib.h 2018-06-12 09:06:30 +02:00
Florian Achermann
84578748f4 Navigator Mission RTL (#8749) 
* Add return to land to mission

This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
 2018-05-27 12:07:06 -04:00
Beat Küng
258b1ea473 navigator: ensure result of strncpy is null-terminated 2018-05-09 07:59:46 +02:00
Daniel Agar
3b5b12e1d1 move baro and magnetometer data out of sensor_combined 2018-04-11 23:26:58 -04:00
Daniel Agar
29b3950747 move geo and geo_lookup to PX4/ecl 2018-03-26 23:16:55 -04:00
Beat Küng
a0372c6183 vmount: implement VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET 2018-03-19 09:42:41 +01:00
Beat Küng
aaa67632ca navigator: remove redundant switch block for ROI handling 2018-03-19 09:42:41 +01:00
Beat Küng
e0af2912a1 navigator: avoid use of a static variable last_geofence_check 2018-03-13 17:35:15 +01:00
Beat Küng
320bdc6482 navigator: refactor to use ModuleBase class 2018-03-13 17:35:15 +01:00
Beat Küng
f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +01:00
Julian Oes
9c6b1a0f04 navigator: fix incorrect takeoff altitude 
This fixes a problem where we do not properly go to the set takeoff
altitude but end up lower.

The problem was that the setpoint triplet is reset when the navigation
mode changes. So in this case, the triplet is reset when we switch from
takeoff to loiter which can happen before reaching the actual takeoff
altitude.

The fix is an ugly hack to prevent the reset in the case of takeoff to
loiter. A better solution would be to remove the general reset and have
all navigation modes do the proper resets themselves.

This hotfix should however be lower risk.
 2018-03-07 08:48:44 +01:00
Sander Smeets
2ef9c4ec35 VTOL force land even when transitioning to FW (#8958) 2018-03-01 16:51:50 -05:00
Vasily Evseenko
135162522a Don't use ADSB messages with undefined fields in navigator (#8900) 
Don't use ADSB messages with undefined fields in navigator
 2018-02-18 11:08:40 +01:00
DonLakeFlyer
342509b3ab New ROI commands implementation 2018-01-25 15:27:55 +01:00
Nicolas de Palezieux
aa4c6c038d navigator : add support for precision landing 2018-01-15 10:27:23 +01:00
Daniel Agar
f49c061a3c navigator fix mission_result increment and sign mismatch 2018-01-14 12:53:53 +01:00
Daniel Agar
916d6a15fd Mission merge offboard + onboard and simplify 2018-01-14 12:53:53 +01:00
Daniel Agar
25c7a03a8b Navigator remove unnecessary calls to updateParams 
- the SuperBlock already does this
 2018-01-14 12:53:53 +01:00
Daniel Agar
545f8c4452 RTL optionally use planned mission landing (#8487) 
- adds new RTL_LAND_TYPE parameter
 2018-01-04 23:42:01 -05:00
Daniel Agar
f87402b16c navigator remove redundant param updates 2018-01-04 09:21:17 +01:00
Dennis Mannhart
a649bbebb7 commander: switch to hold or mission once takeoff is finished (#8020) 
* add COM_TAKEOFF_ACT to optionally switch to mission after takeoff
 2017-12-31 13:58:20 -05:00
Daniel Agar
6172315cf7 navigator mission_result fix increment sign 2017-12-20 17:05:25 +08:00
lamping7
63718bf27b fix MISSION_ITEM REACHED message broadcast (#8332) 2017-12-10 02:30:58 -05:00
Nicolas de Palezieux
a6ae1fbcaa vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically (#8377) 2017-11-27 15:43:39 -05:00
Dennis Mannhart
05c00855c4 navigator: reset triplets if navigation mode changes (#8285) 2017-11-14 11:32:21 -05:00
Lorenz Meier
4028692bfe Navigator: Limit string copy to length of target array 2017-11-13 09:59:54 +01:00
Lorenz Meier
a1a002f9b6 Navigator: Add the ability to do a low-altitude RTL to avoid traffic 
This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
 2017-10-31 09:10:32 +01:00
Daniel Agar
4416c4ddb3 navigator move parameters out of MissionBlock 
- MissionBlock is an interface with > 10 implementations
 2017-10-26 22:43:53 +02:00