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e2e72fd81e2f02c28a786e9fb5099284d0f3bd3e
Commit Graph

96 Commits

Author SHA1 Message Date
Julian Kent
e2e72fd81e Fix map distortion due to high latitudes (#15449) 2020-08-19 09:55:15 +02:00
Daniel Agar
97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
RomanBapst
120f188ada rtl: do not use cone logic for vehicle flying as fixed wing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-25 09:17:23 -04:00
Daniel Agar
9e509a4bec navigator: RTL minor whitespace and style fixes 2020-06-02 22:08:55 -04:00
Daniel Agar
aca6be8b5c navigator: RTL destination throttle dataman access 2020-06-02 22:08:55 -04:00
Dusan Zivkovic
a758ea1220 RTL: enable precision landing at the end of RTL, configurable by parameter 2020-05-29 09:11:01 +02:00
Daniel Agar
05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
Silvan Fuhrer
5b235c34c2 Rally Points: enable rally points always, except for RTL type == RTL_MISSION 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-11-22 08:18:25 +01:00
Silvan Fuhrer
0ce9329803 Safe Landing Points: Added new RTL_TYPE: closest between home, mission landing and safe points 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Co-authored by Martina Rivizzigno <martina@rivizzigno.it>
 2019-10-28 09:54:59 +01:00
Silvan Fuhrer
efafd91095 Rally Points in RTL: fly to closest Rally Point (safe point), or to home if that's closer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-10-28 09:54:59 +01:00
RomanBapst
7c8fa82e76 rtl cone angle: expose a few values to the user 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst
81ee40eac8 rtl: implemented RTL based on cone shape 
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
Timothy Scott
a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00
bresch
903deb7579 RTL - Skip descend state if no delay is set between descend and land 2019-04-25 18:24:04 +02:00
bresch
f3990c84fc Parameter update - Rename variables in modules/navigator 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
Alessandro Simovic
0c129274af Fixing a few headers 2019-01-25 11:58:17 -05:00
dakejahl
f7147653ab Navigator RTL: Removed the condition to transition straight to RTL_LAND if the previous setpoint was of type LAND. Not only does this not normally work, as the setpoints are cleared to invalid when navigator changes nav states, but the land lat/lon is set as home.lat and home.lot which is very wrong, as the vehicle would just beeline straight towards thatlocation. (#10252) 2018-08-16 18:08:46 -04:00
Dennis Mannhart
c76621bdb2 RLT: set yaw to current yaw during climb 2018-08-03 08:24:34 +02:00
Jake Dahl
4144a53cd6 added a check to ensure the current position setpoint is valid 2018-07-26 07:46:24 +02:00
Jake Dahl
a1ff4a8a67 removed unneccessary includes, eliminated namespace on math, changed date 
changed a comment

reverted a file back to master
 2018-07-26 07:46:24 +02:00
Jake Dahl
21db15ff4f If already in landing, go straight to state RTL_LAND. Also cleaned up the comments 2018-07-26 07:46:24 +02:00
Jake Dahl
130cdf25bf prevent RTL if already landing 2018-07-26 07:46:24 +02:00
Beat Küng
ff365cad08 rtl: change "RTL: land at home" message from critical to info 2018-06-15 15:53:28 +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
f2dddc65a5 navigator: use new Param class 2018-03-13 17:35:15 +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
246c47e0db RTL land use mavlink critical and log when starting landing 2017-11-26 14:40:13 -05:00
Daniel Agar
8567e3b924 RTL fix RTL_LAND_DELAY check and simplify logic 2017-11-26 14:40:13 -05:00
Daniel Agar
84f07c64b0 Navigator RTL fully initialize mission item in each state 2017-11-14 14:57:34 -05:00
Daniel Agar
98cbd44526 RTL check alt_max before using 
- fixes #8257
 2017-11-14 14:57:34 -05:00
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
Dennis Mannhart
8a0a8e20e1 mc_pos_control: use correct altitude as limit 
fadfdasf
 2017-10-10 10:28:07 +02:00
Dennis Mannhart
f9b8afc006 Navigator: Use maximum flight altitude to limit missions 
This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
 2017-10-10 10:28:07 +02:00
Daniel Agar
3c18be387c ROI - move handling to navigator (#7939) 2017-09-26 12:25:02 -04:00
Daniel Agar
e0aa2e2391 RTL reduce verbosity 2017-07-08 21:54:04 +02:00
Daniel Agar
fbebec5d0f navigator log RTL messages and don't print global timeout 2017-07-08 21:54:04 +02:00
Lorenz Meier
d5c923c7ef Navigator: Fix RTL backtransition for VTOL 
A recent change removed the command forwarding required for VTOL transitions. This change brings this back.

Partially reverts https://github.com/PX4/Firmware/pull/7249
 2017-06-15 08:27:23 +02:00
Lorenz Meier
9be5193965 Navigator: Fix RTL command lnd logic for missions 
The navigator was sending RTL commands in the wrong circumstances leading to a cycle between Navigator and Commander.
 2017-05-16 08:40:53 +02:00
Daniel Agar
56b028148b Navigator move get_time_inside and cleanup (#7062) 2017-04-20 11:24:55 -04:00
Lorenz Meier
f70b4ef883 Navigator: Fix RTL state handling by enabling auto-continue after descend 2017-04-14 10:02:31 +02:00
Lorenz Meier
85b074f8d8 Navigator: Fix RTL state sequence 2017-04-10 23:34:35 +02:00
Lorenz Meier
f74d6e443e Navigator: Initialize RTL state properly 2017-04-08 07:58:37 +02:00
Dennis Mannhart
1774e01c00 rtl: keep rtl altitude below max altitude 
land_detector: delete unused class enum
 2017-02-27 22:54:19 +01:00
Lorenz Meier
7710b64d27 Navigator: Re-initialize RTL every time it gets re-enabled 2017-02-26 13:26:52 +01:00
Lorenz Meier
ad3d0391ab Navigator: Only update params as they change 2017-02-25 11:04:52 +01:00
Lorenz Meier
d66d7a4932 Navigator: Fix code style 2017-02-17 09:13:13 +01:00
Lorenz Meier
c8fb21e73e Navigator: Enforce a minimum altitude for RTL 2017-02-17 09:13:13 +01:00
Lorenz Meier
16dfd4c6ff Navigator: Header cleanup 2016-12-27 21:00:51 +01:00