Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Orbit approach transition improvements #18988

Merged
merged 9 commits into from
Jan 25, 2022
Merged

Orbit approach transition improvements #18988

merged 9 commits into from
Jan 25, 2022

Commits on Jan 24, 2022

  1. FlightTaskOrbit: Do not switch out of circle orbit control logic on r… 

    …adius change.
    @ThomasDebrunner @MaEtUgR
    ThomasDebrunner authored and MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    0d6e0e6 View commit details
    Browse the repository at this point in the history

  2. FlightTaskAuto: fix typo pos(i)tion

    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    8daf9c6 View commit details
    Browse the repository at this point in the history

  3. FlightTaskOrbit: improved naming in applyCommandParameters()

    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    d5b7614 View commit details
    Browse the repository at this point in the history

  4. FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation 

    the parameters are anyways sanitized on every update so even if activate()
sets unfeasible one's they get adjusted on the first update.
    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    541bb6e View commit details
    Browse the repository at this point in the history

  5. FlightTaskOrbit: initialize position smoothing with previous setpoint… 

    …s instead of current state
    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    1b509d8 View commit details
    Browse the repository at this point in the history

  6. FlightTaskOrbit: include acceleration and jerk in approach setpoint p… 

    …ublishing

I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    32c8189 View commit details
    Browse the repository at this point in the history

  7. FlightTaskOrbit: Fix vertical speed limit

    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    2622954 View commit details
    Browse the repository at this point in the history

  8. FlightTaskOrbit: Fix altitude adjustment by stick 

    This is done by inheriting from FlightTaskManualAltitudeSmoothVel again.
The altitude change by command is taken care of by switching
to the apporach when the altitude difference is big enough and
switching back once the altitude is close enough.

The altitude of the command is not perfectly reached but this can
only be done smoothly when the Orbit has full control over the
altitude smoothing. The independent altitude smoothing is not kept
because it was lacking stick handling like altitude lock and smooth
transitions when opening and closing the vertical position loop.
    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    81a7247 View commit details
    Browse the repository at this point in the history

  9. FlightTaskOrbit: Use cruise speed and manual acceleration for radius … 

    …and velocity changes

instead of arbitrary fractions of the maximum radius and velocity.
    @MaEtUgR
    MaEtUgR committed Jan 24, 2022
    Configuration menu
    Copy the full SHA
    75445b4 View commit details
    Browse the repository at this point in the history