Beat Küng
5eb7d8ec5f
flight tasks smoothing: refactor param_find -> Param
...
Plus some style fixes
2018-04-11 07:47:06 +02:00
Beat Küng
398d511fd9
flight tasks smoothing: fix style issues
2018-04-11 07:47:06 +02:00
Beat Küng
0eaa6222a2
flight tasks: refactor BlockParam -> Param and handle param updates
2018-04-11 07:47:06 +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
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
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
017576262c
FlightTaskManual: replace yaw with yaw_sp for rotation
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
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
Matthias Grob
6fb9ca3b0c
FlightTasks: corrected comment and sorted out unnecessary includes
2018-04-05 07:30:12 +02:00
Matthias Grob
e1a81c7978
FlightTaskManual: remove unnecessary activate method
2018-04-05 07:30:12 +02:00
Matthias Grob
e8cc93ec23
FlightTasks: create enumeration type for the task index while still offering integer index with checks
2018-04-05 07:30:12 +02:00
Matthias Grob
f135e6dda0
FlightTasks: switch field name from thr to thrust + some code spacing
2018-04-05 07:30:12 +02:00
Alessandro Simovic
f8e4e82bba
snapdragon: Applied camelCasing
2018-04-05 07:30:12 +02:00
Alessandro Simovic
01ecb05341
snapdragon: changed constexpr to const in FlightTask so that it would compile
2018-04-05 07:30:12 +02:00
Alessandro Simovic
50c1eba392
snapdragon: fixed compiler shadow warning, function name was identical as a variable name
2018-04-05 07:30:12 +02:00
Dennis Mannhart
d64b59b95f
FlightTaskUtility: remove duplicate slewrate
2018-04-05 07:30:12 +02:00
Dennis Mannhart
c1bb0cbdcc
smoothing xy: remove unused variable
2018-04-05 07:30:12 +02:00
Dennis Mannhart
59f3de192f
ManualSmoothingXY: velocity as criteria for direction change to prenvent fast acceleration at low spped
2018-04-05 07:30:12 +02:00
Dennis Mannhart
13eb79ffb8
FlightTasks: fix class name
2018-04-05 07:30:12 +02:00
Dennis Mannhart
bb00f6d737
FlightTaskManualPosition: update to new smoothing interface
2018-04-05 07:30:12 +02:00
Dennis Mannhart
4f17fb1303
ManualSmoothingXY: detect alignement based on body frame; do direction change only if not yawspeed is demanded
2018-04-05 07:30:12 +02:00
Dennis Mannhart
40d77d2234
FlightTaskManualStabilized: remove second ;
2018-04-05 07:30:12 +02:00
Dennis Mannhart
5cfd93040f
ManualSmoothZ: move vel_sp_previous update into class
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ed62056b7c
FlightTaskManualPositionSmooth: smooth xy and z
2018-04-05 07:30:12 +02:00
Dennis Mannhart
ac6ed74063
Add FlightTaskManualPositionSmooth
2018-04-05 07:30:12 +02:00
Dennis Mannhart
26889bc0e1
ManualSmoothing in xy
2018-04-05 07:30:12 +02:00
Dennis Mannhart
1ddcc7a3ee
FlightTaskManaulAltitude: fix activation
2018-04-05 07:30:12 +02:00
Dennis Mannhart
0ec312ef3d
FlightTaskManualAltitude: fix update
2018-04-05 07:30:12 +02:00
Dennis Mannhart
5ad37cec71
FlightTaskManualAltitudeSmooth: update vel sp z
2018-04-05 07:30:12 +02:00
Dennis Mannhart
153b012df6
FlighTaskManual lock condition: rename boolean
2018-04-05 07:30:12 +02:00
Dennis Mannhart
5d06464340
FlightTaskManualPosition: rename updateXYsetpoints to updateXYlock
2018-04-05 07:30:12 +02:00
