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Pitt-RAS / iarc7_motion

Motion Planning and Control code for generic multirotor, developed for IARC Mission 7
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Z velocity to position #121

Closed aftersomemath closed 6 years ago

aftersomemath commented 6 years ago

@MiscM Started this and I wrapped up a few details.

Completely breaks functional compatibility but not software compatibility due to significant restructuring of HLM that is required. I plan on doing this restructuring as part of senior design so it can't be in this PR. The restructure will achieve linear profile interpolation (necessary for senior design) with a revamp of HLM that allows the intuitive nature of velocity and position targets to be used while still causing completely filled motion points to be output.

Technically the software is still correct, its just that LLM won't ever takeoff since the QuadVelocity controller looks at Z position which isn't being filled out by HLM.

amiller27 commented 6 years ago

So I'm thinking we wait to merge this until the rest of it is ready? Is that good with you?

aftersomemath commented 6 years ago

Yes but please review so that we can fix things sooner rather than later.

asaba96 commented 6 years ago

What kind of changes to HLM were you envisioning? Supporting motion points commands? Revamping the takeoff/land tasks?

asaba96 commented 6 years ago

Also please no breaking changes being merged. Otherwise you will force us to use an old commit version of master to do our work.

aftersomemath commented 6 years ago

HLM needs to maintain a simple way to tasks to assign positions and velocities but needs to provide full motion point plans at all times. I plan to add a simple profile generator that generates plans from target positions or velocities.