Dev traj fixes#11399

Merged

bresch merged 11 commits intomasterfrom dev-traj-fixes

Feb 13, 2019

+85-92

Commits on Feb 11, 2019

Manual Trajectory - Add Z position lock logic and log complete trajectory

bresch
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dagar
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Manual Traj - Avoid velocity jumps due to a modification of the constraints

bresch
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dagar
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Velocity Smoothing - Various improvements, cleanup and corner cases fixes

bresch
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dagar
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Manual vel smooth - Use MPC_JERK_MAX only

bresch
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dagar
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Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator

bresch
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Position Controller - Saturate the controllers using static parameters. Handle saturations in the flight tasks only

bresch
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dagar
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Traj Smoothing - make format

bresch
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mc_pos_control - add takeoff_ramp_time zero division guard

bresch
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dagar
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PositionControl - use dynamic constraints to saturate velocity controller for now as it is needed for the current smooth takeoff logic. Will be reverted after smooth takeoff refactor

bresch
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dagar
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mc_pos_control - reduce smooth_velocity_takeoff default threshold, set initial takeoff speed to 0 and remove useless else

bresch
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dagar
committed

Commits on Feb 13, 2019

mc_pos_control - Publish trajectory setpoint directly after the FlightTask update
bresch
committed