Commit Graph

19 Commits

Author SHA1 Message Date
Daniel Agar d37510a43d
update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields 2021-03-09 10:36:34 -05:00
Daniel Agar d0c9a5fc93
OFFBOARD mode architecture overhaul (#16739)
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
2021-03-05 09:39:46 -05:00
Daniel Agar f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter
- remove mavlink mechanism for setting minimum pitch
2021-02-12 13:57:15 -05:00
Silvan Fuhrer 574b482fdb Navigator: make weather vane work in all auto modes, not just mission (#13761)
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
 - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
 - flag is set before front transition to align with wp, and unset after alignment is over

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2019-12-28 12:13:15 -05:00
Silvan Fuhrer ab28f1e4f7 Navigator: VTOL: disable weather vane during yaw aligning before front transition
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2019-08-21 10:08:04 +02:00
Alessandro Simovic 0bb5345306 removed unnecessary new-lines 2019-01-25 11:58:17 -05:00
Simone Guscetti 82d4cd6dfa position_setpoint: Change deploy gear to landing gear
- Use the values from landing_gear.msg
2018-12-10 16:17:23 +01:00
Simone Guscetti 66f85ff9ae FlightTask Auto: Save deploy gear information 2018-12-10 16:17:23 +01:00
TSC21 86baa6a90a beautify some identation 2018-08-09 13:40:48 +02:00
TSC21 e932030d88 add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-09 13:40:48 +02:00
Daniel Agar 4416c4ddb3 navigator move parameters out of MissionBlock
- MissionBlock is an interface with > 10 implementations
2017-10-26 22:43:53 +02:00
Julian Oes e01eaf172a Add body/NED frame for offboard velocity control
This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.

The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
2016-12-15 10:17:03 +01:00
Lorenz Meier 7be71459f5 Offboard control (#5816)
* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work.  The line of code changed here causes failsafe RTL to kick in without this fix.

* Add altitude hold option using Z position control, while doing velocity control on vx and vy.

* Fix style and rebase issues
2016-11-07 12:09:41 +01:00
sander 37531c018a Implement MAV_CMD_DO_CHANGE_SPEED throttle 2016-06-23 09:08:35 +02:00
Jimmy Johnson 0797c7fc21 velocity smoothing 2016-03-27 12:10:57 +02:00
Lorenz Meier cc5afdd6b5 Add field for desired cruising speed 2016-03-13 18:07:47 +01:00
Roman be0f680863 orb topic messages:
-added flag to enable weathervane yaw control for vtol
-added comment to keep virtual topics and original topic identical
2016-02-15 09:48:37 +01:00
Andreas Antener 09b5bdb1ee in mc auto: do not reset the position sp while near the waypoint, should make switching to manual pos control smoother 2015-12-28 15:23:20 +01:00
Thomas Gubler c67cb25f9a port more uorb headers to msg 2015-01-28 16:31:19 +01:00