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28202 Commits

Author SHA1 Message Date
Daniel Agar 4e2bf27da6 FlightTaskAuto set WaypointType from position setpoint types 2018-11-11 10:21:41 -05:00
Daniel Agar 246b879aea require MODULE_NAME 2018-11-10 13:52:34 -05:00
David Sidrane 8d15da379b nxphlite-v3:Add HolyBro GPS on I2C 2 using ist8310 2018-11-09 15:04:51 -05:00
Beat Küng e91db7b4d2 uORBDeviceNode: move flags from SubscriberData to UpdateIntervalData 
As there is only one bit used in 'flags', and it is only used in case
update_interval is not null, we can move the bit to UpdateIntervalData.

The size of UpdateIntervalData does not increase (on 32 bit).

Reduces RAM usage by 3.6KB (tested on a Pixracer).
 2018-11-07 19:45:53 +08:00
bresch 90cee2d5ea Manual Smoth Vel - Override reActivate to not reset Z axis (prevented takeoff) 2018-11-06 22:17:00 +01:00
bresch c3a4fff0cd Auto traj - generate heading from trajectory velocity vector if possible 2018-11-06 22:17:00 +01:00
bresch 066d1f50c4 Auto traj - Add dedicated parameter to enable trajectory smoothing in auto mode only 2018-11-06 22:17:00 +01:00
bresch 7205e8f359 Auto traj - Add Trajectory logging 
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
 2018-11-06 22:17:00 +01:00
bresch 2847ce20b8 Auto traj - Add parameter for gain of trajectory controller 2018-11-06 22:17:00 +01:00
bresch 2c63388fb7 Auto Traj - Disable reActivate "reset" function for AutoLineSmoothVel Flight Task 2018-11-06 22:17:00 +01:00
bresch 0209fa00bf Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks 2018-11-06 22:17:00 +01:00
bresch 67c0846068 Vel smooth - Improve position lock/unlock detection 2018-11-06 22:17:00 +01:00
bresch d9edcfdc06 Trajectory - format style 2018-11-06 22:17:00 +01:00
bresch aa586ca327 Trajectory - Overload integrate function to allow for custom integration period 2018-11-06 22:17:00 +01:00
bresch 7073187a48 Trajectory - Add getters for current position and velocity. Move some getters to public section 2018-11-06 22:17:00 +01:00
bresch 6a7ce651bc Trajectory - Add position lock-unlock logic and proper initialization from controller feedback 2018-11-06 22:17:00 +01:00
bresch 84665672ad Vel smooth - Change jerk scheduling strategy 2018-11-06 22:17:00 +01:00
bresch ab7e4436b3 Vel smooth - Add Z trajectory 2018-11-06 22:17:00 +01:00
Beat Küng 787d82c9e6 VelocitySmoothing: simplify the API & fix style 2018-11-06 22:17:00 +01:00
bresch 4f668c0c2d SITL - update default velocity PID gains 2018-11-06 22:17:00 +01:00
Beat Küng d8cb6bb834 mc_pos_control_params: update jerk params (limits + defaults + description) 2018-11-06 22:17:00 +01:00
bresch 22780efcd0 Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between. 2018-11-06 22:17:00 +01:00
Beat Küng 86463e4ec7 Flight Tasks: add new trajectory smoothing flight task & library 
Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator
 2018-11-06 22:17:00 +01:00
Roman deed462e62 tiltrotor back-transition improvements: 
- do not set zero throttle during the entire back-transition because otherwise
we need to make the back-transition really short
- added ramping up of throttle setpoint during backtransition to avoid
step inputs
- back-transition ends after back-transition time and not when motors are fully
rotated updwards. previously the vehicle would enter hover mode at high speed
which was not handled well by the mc position controller

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-06 22:10:38 +01:00
James Goppert c642025339
vehicle_attitude only based yaw control fix (#10803) 
* Add attitude sub to mc_pos_control for yaw usage.

* Initialize pos control _states struct.

* Remove unnecessary init for struct in mc pos ctrl.

* Only use att topic for yaw setting in FlightTask.
 2018-11-06 12:03:13 -05:00
Roman 40884a9238 FlightTaskTransition: added missing override 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Roman 50724bce86 mc_pos_control: support VTOL transitions again 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Roman fea309b606 added a flighttask for automatic vtol transitions 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-07 00:13:43 +08:00
Beat Küng df559f3042 logger: unlock the mutex for fsync & call fsync only when backend is running 
- fsync can be a long blocking operation, so we need to make sure the main
  logger thread does not block during this time, when it tries to aquire
  the mutex
- fixes calling fsync on an invalid file descriptor
 2018-11-07 00:08:23 +08:00
Daniel Agar 7caf9803ed delete unimplemented SENSORIOCRESET IOCTL 2018-11-06 07:43:43 +08:00
Daniel Agar b0caea9edc mpu9250 remove interface IOCTLs 2018-11-06 07:43:43 +08:00
Daniel Agar e164281a2e mpu6000 remove interface IOCTLs 2018-11-06 07:43:43 +08:00
Daniel Agar dd0baaee91 delete IOCTL SENSORIOCSQUEUEDEPTH 
- only used in test routines
 2018-11-06 07:43:43 +08:00
Daniel Agar d2ed091a1d delete IOCTL SENSOR_POLLRATE_MAX 
- only SENSOR_POLLRATE_DEFAULT is needed
 2018-11-06 07:43:43 +08:00
Daniel Agar 556a9422b5 delete IOCTL SENSOR_POLLRATE_MANUAL 
- only used in self tests
 2018-11-06 07:43:43 +08:00
Daniel Agar 8dfd55fc9e delete unused IOCTL SENSORIOCGPOLLRATE 2018-11-06 07:43:43 +08:00
Daniel Agar 9cd3e3d1cf distance sensors delete unused IOCTL SENSORIOCSQUEUEDEPTH 2018-11-06 07:43:43 +08:00
Daniel Agar ac04db6084 delete unnecessary drv_px4flow.h 2018-11-06 07:43:43 +08:00
Daniel Agar d76155107c delete unused IOCTL MAGIOCGRANGE 2018-11-06 07:43:43 +08:00
Daniel Agar 0ea18b2b73 delete unused IOCTL MAGIOCGSAMPLERATE 2018-11-06 07:43:43 +08:00
Daniel Agar 60a40ec131 delete unused IOCTL MAGIOCSSAMPLERATE 2018-11-06 07:43:43 +08:00
Daniel Agar 04972d196a delete unused IOCTL MAGIOCTYPE 2018-11-06 07:43:43 +08:00
Daniel Agar 114b471675 delete unnecessary drv_iridiumsbd.h 2018-11-06 07:43:43 +08:00
Daniel Agar 1f2cb8740a delete unnecessary drv_irlock.h 2018-11-06 07:43:43 +08:00
Daniel Agar 76a6cd10b1 delete unnecessary drv_gps.h 2018-11-06 07:43:43 +08:00
Daniel Agar 571364c617 delete baro_report (alias for sensor_baro_s) 2018-11-06 07:43:43 +08:00
Daniel Agar 85c2b6307c delete unused IOCTL AIRSPEEDIOCGSCALE 2018-11-06 07:43:43 +08:00
Daniel Agar acc24da0c2 delete gyro_report (alias for sensor_gyro_s) 2018-11-06 07:43:43 +08:00
Daniel Agar 42f9aa6e43 delete drv_gyro.h GYROx_DEVICE_PATH 2018-11-06 07:43:43 +08:00
Daniel Agar aaf1667b09 delete unused GYRO_SAMPLERATE_DEFAULT 2018-11-06 07:43:43 +08:00