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[WIP] Flight task auto#9253

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Stifael wants to merge 81 commits intomasterPX4/PX4-Autopilot:masterfrom FlightTask-AutoPX4/PX4-Autopilot:FlightTask-AutoCopy head branch name to clipboard

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Commits on Apr 16, 2018

• FlightTaskAuto: abstract class for mapping triplets to quadruple

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• PositionControl: auto takeoff with constant speed

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• FlightTaskAutoLine: check if yaw_wp is finite

  

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• PositionControl: if valid velocity and position setpoint available, always prioritize

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• ControlMath: by value to reference

  

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• FlightTaskAuto minor clean up

  

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• mc_pos_control: update to _dt

  

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• mavlink_messages: add yawspeed to local position setpoint sent over mavlink

  

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• mc_pos_control: set thrust to zero if in idle

  

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• mc_pos_control: remove unused method

  

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• mc_pos_control: idle state fix

  

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• mc_pos_control: only adjust thrust setpoint for ground/maybe landed if NOT in pure manual

  

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• position control: remove empty space

  

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• FlightTaskAuto: remove unused include

  

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• FlightTaskAuto: pure virtual reset method

  

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• FlightTaskAuto: comment fix

  

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• FlightTaskAutoLine: override _reset method

  

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• FlightTaskAuto: simplify logic by just updating waypoints if anything has changed

  

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• FlightTaskAutoLine: simplify logic by setting setpoints directly

  

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• FlightTaskAuto: remove warning message

  

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• FlightTaskIndex: add AutoLine

  

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• mc_pos_control: replace thr with thrust

  

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• FlightTaskAuto: typo fix

  

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• FlightTaskAuto: always update cruise speed

  

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• FlightTaskAutoLine: replace xy/z setpoints with FlightTask base setpoints

  

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• FlightTask: remove global to local map

  

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• FlightTaskAutoLine: introduce previous type which used to reset setpoints

  

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• FlightTaskAutoLine: move method

  

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• FlightTaskAutoLine: first activate and then reset

  

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• FlightTaskAutoLine: if previous type was idle, set thrust to NAN again to ensure

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• mc_pos_control: remove logic which was only present due to legacy code

  

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• mc_pos_control: remove smooth takeoff for pure manual

  

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• comment fix

  

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• FlightTaskAutoLine: don't reset during normal operation

  

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• mc_pos_control: don't stay idle when landed but in pure manual

  

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• FlightTaskManualStabilized: replace minimum throttle with minum throttle specific for stabilized

  

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• PositionControl: make distinction for throttle minimum depending on mode

  

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• mc_pos_control auto takeoff: smooth takeoff until speed of 0.8 is reached

  

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• FlightTaskAuto: always update type

  

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• PositionControl: parameter subscription declaration

  

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• mc_pos_control takeoff: smooth-takeoff starts if position setpoint larger than current

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• mc_pos_contorl: comment update

  

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• mc_pos_control: stay in smooth-takeoff only if altitude is not reached AND

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• mc_pos_control: only use flighttask if rotary wing

  

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• mc_pos_control: set all unused att_sp members to false

  

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• FlightTask: move geo-lib include to FlightTaskAuto where it is required

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• FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition

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• FlightTaskAuto: fix global reference update

  

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• ControlMath: add derivation and simplify computation

  

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• mc_pos_control: replace constant takeoffspeed with parameter

  

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• mc_pos_control ground-contact: replace body thrust to zero with local xy-thrust

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• ControlMath constrainxy: fix one of the condition

  

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• mc_pos_control: update comment

  

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• test_controlmath: add first few tests for constrain function in xy

  

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• mc_pos_control: simplify logic by considering valid velocity and position together

  

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• FlightTask: comment fixes

  

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• PositionControl: variable replacement

  

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• mc_pos_control: make sure that auto takeoff setpoint is at least 20cm above ground

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• PositionControl: add integral reset methods

  

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• Positioncontrol: limit velocity upwards during smooth takeoff

  

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• mc_pos_control landed/ground contact: reset PID-integrals

  

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• FlightTaskAutoLine: fix greater sign

  

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• FlightTaskAuto: always update yaw

  

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• mc_pos_control: clean up of comments

  

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• PositionControl: check if constraints are below global maximum

  

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• PositionControl/mc_pos_control: update comments

  

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• PositionControl parameter renaming. Use the the name as stored in the metadata

  

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• FlightTaskAuto: comments refactor

  

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• ControlMath: comments refactor

  

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• PositionControl: bug fix Pv replacement with Pp

  

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• mc_pos_control and FlightTaskAuto rebase fix

  

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• PositionControl: degrees to radians

  

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• test_controlmath rebase fix: EPS to FLT_EPSILON

  

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• mc_pos_control: takeoff speed to new param type

  

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• FlightTasksAuto/Line: replace BlockParams with module params

  

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• PositionControl.hpp: inherit from ModuleParams and replace params with ModuleParams type

  

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• PositionControl.cpp: replace all params with ModuleParams type. Add method that overwrites

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• mc_pos_control: PositionControl class adjustement to new ModuleParams

  

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• px4_module_params: make updateParams virtual

  

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• PositionControl: replace overwrite with ModuleParams updateParams method

  

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• PositionControl: format clean up

  

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