[WIP] Flight task auto #9253
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[WIP] Flight task auto #9253
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Stifael
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Apr 6, 2018
| * PID-controller for velocity. | ||
| * Inputs: | ||
| * vehicle position/velocity/yaw | ||
| * desired set-point position/velocity/thrust/yaw/yaw-speed |
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Change the name desired to just setpoint
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FlightTaskAuto: add type that corresponds to triplet type FligthTaskAuto: set all setpoints if invalid in xy FlightTaskAuto: cast triplet type to WaypointType FlightTaskAutoLine: class for px4 legacy auto FlightTaskAutoLine: methods prototype FlightTaskAuto: change sp to wp (=Waypoint) add params FlightTaskAutoLine: follow waypoints along line based on flight state
PositionControl: remove takeoff logic mc_pos_control: takeoff logic for flighttask mc_pos_control: smooth takeoff throttle start at 0
…lways prioritize velocity setpoint generated from position error over velocity feedforward
…f NOT in pure manual
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added 6 commits
April 16, 2018 11:04
…h ModuleParams type
…ethod that overwrites parameter values
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@dagar I am not convinced anymore if we are able to have both legacy and flighttask present in the firmware at the same time due to flash issue. |
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I will close this in favor of #9368 |
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This moves the legacy MC-auto logic into a Flighttask.
Except of some user specific features (i.e. slowing down close to ground speed) and ekf related reference update handling, the MC auto-logic can be tested and compared to the legacy code.
In sitl it is also possible to switch between legacy and Flighttask. However, there is no guarantee of a smooth transition because of the various legacy flags that are not taken care of within Flighttask. Consequently, I suggest to NOT switch in flight between Flighttask and legacy during testing.
TODO: