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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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Bring MPC to the new flight stack #60

Closed foehnx closed 6 years ago

foehnx commented 6 years ago

I made some changes to allow compatibility with our new MPC. It includes mainly templating the autopilot on the controller type and parameter type, which requires the autopilot.cpp to move to the header file, solved as a head include.

Further changes were also mentioned in #5 and we concluded that references are always given in the form of a Trajectory (and no longer TrajectoryPoint) to the controller. The position controller would then just take the first point in it, while the MPC can use the first (for a single reference) or a whole lookahead on a trajectory.

I made several changes and would be happy to hear your comments.

@internals: also take a look at: https://github.com/uzh-rpg/rpg_mpc/pull/5

mfaessle commented 6 years ago

About transforming the cpp file into a header... I never used templates myself but maybe @tcies has some comments about naming conventions etc of such files.

foehnx commented 6 years ago

@mfaessle the autopilot_inl.h is done according to @tcies proposed convention

foehnx commented 6 years ago

updated rpg_quadrotor_common with new Trajectory constructor, so... @rpg-jenkins test this please

foehnx commented 6 years ago

can someone approve this please?

foehnx commented 6 years ago

finally happy? I'll merge tomorrow morning... ;-)