- added big dofec simulation configs
- updated dofec params
- fixed launch, env->optenv
- Contributors: Tomas Baca, Vaclav Pritzl
- added useful prints
- added midair activatioin to simulation yamls
- default gain manager: allow supersoft gains for aloam estimators
- rc handoff for eland/failsafe
- added constraints override
- refactored agains publisher handler
- refactored control manager
- updated transformer interface
- added install for forgotten NullTracker
- install in cmakelists
- small config comments fix
- naki: default to se3controller
- add configs: simulation/naki
- add ScopeTimer and its logger to all managers via CommonHandler; disabled by default
- updated brus configs
- Contributors: Pavel Petracek, Tomas Baca
- fixed cmd odom attitude initialization bug
- added rc mode to control manager diag
- parametrized rc joystick speed
- fixed escalating failsafe sub-state success check
- softened gains for x500
- throttled failsafe disarming print
- updated brus configs
- added land_home check for previous takeoff
- parametrized landing tracking reference thr
- added position cmd check for landing
- added missing checks on position cmd header
- added brus configs
- added midair activation
- fixed motors on when already on
- added brus simulation configs
- added missing callbacks_enabled_ and fixed velCmd
- fix control manager crash while velocity reference on the ground
- decreased the land home detection radius
- added virtual destructor implementation to null tracker
- fixed destructors in tracker and controller
- updated rc mode carrot distance
- fixed min/max height check in uav manager
- fixed escalating failsafe initialization
- added dofec uav config
- enabled min height check with 0.5 height
- updated max height check to atually use the height
- fixed controller returning null action
- separated escalating failsafe state machine
- added tight gains for f450
- updated naki gains
- updated default constraints
- updated mass loading for simulation
- added speed publisher
- updated naki gains
- ControlManager: updated trajectory snapping
- ControlManager: updated default constraints
- ControlManager: updated odom timeout
- added t18 configs
- disabled trajectory snapping to safety area (by default)
- added controll/tracker deactivation when motors off
- fixed the odom timeout failsafe bug
- Contributors: Matej Petrlik, Pavel Petracek, Tomas Baca
- version -> 1.0.1
- updated ros::shutdown
- fix fallback gains for ALOAMREP and x500 uav type
- removed disarm from escalating failsafe
- linted, minor bug fixes
- removed CsvTracker
- remapped the joystick topic to be namespaced and command only a single drone
- added velocity command to control manager
- UavManager: minor changes in minHeightCheck
- fixed transfomer warning when not flying on GPS
- made land_home more insistive
- added min height checking to uav manager
- updated safety area loading
- fixed tf check for safety area publishing
- updated MpcTracker's topic remaps in control_manager.launch
- double -> bool fix, controlTimer -> std::async
- fixed landoff tracker in control manager's diagnostics
- fixed potential land home altitude discrepancy
- added diagnostics publisher to UavManager, warning fixes
- Contributors: Matouš Vrba, Tomas Baca
- Major release
- major control pipeline refactoring
- c++ refactoring
- Noetic-compatible
- updated controller and tracker interface
- updated safety features
- dynamic constraints update
- Contributors: Daniel Hert, Matej Petrlik, Matej@NUC, Matouš Vrba, Pavel Petracek, Robert Penicka, Tomas Baca, Tomáš Báča, Viktor Walter, eaglemk2, klaxalk, mergify[bot], mrs, uav20, uav35, uav45, uav46, uav49
- added deadband around retard mode
- undone the new landing mass factor parameters for landing and elanding
- updated automatic shutdown
- Contributors: Tomas Baca
- added safety area toggle service
- updated land/eland cutoff params -> 2x faster landing detection
- added land_there service to uav_manager
- added yaw error payload release check
- added emergency ungrip before eland
- emergency reference is transformed
- added bumper params service
- ungripping payload while landing home
- added version checks
- changed the motors on pub to offboard on
- added checks for null tracker to emergency callbacks
- added motors-on publisher
- pushing common handlers to controllers
- sprinkled in some Profiler to ControlManger
- added landing_controller option to UavManager
- removed NullTracker switch before landing
- increased joystick carrot distance
- muted null_trackers callback message
- increased timeouts for profiler routines
- added hiccup detector
- added services for reference validation
- sped up land_home
- updated control manager diag
- added motors to diag
- updated the joystick control fallback
- fixed constraint/gain manger setting bug
- gain/const manager don't give up when they fail
- throttled RC mode prints
- gain/const manager: fallbacks only if neccessary
- control error publish only when flying
- updated compilation flags
- fixed bumper's obstacle hugging
- updated odometry missing timeout
- added maxthrust ungripper
- ControlManager: updated cmd odom publisher
- added gain and constraint diagnostics
- added height to point obstacles
- removed target attitude publisher from control manager
- swtiched from target_att to att_cmd
- added odom callbacks setter
- updated debil land timeout
- added odometry callbacks disabler
- fixed the controller init after null tracker
- returning true when activating already active t/c
- throttled partial landing rinfo
- added getMinHeight service
- added trackerResetStatic method to trackers
- added set_min_height service
- refactored disabling of switching callbacks
- reworked switch-tracker/controller callbacks
- workaraounded point obstacles in latlon_origin
- updated bumper description
- updated control error publisher
- updated uav_names param loading
- fixed wrong return value in resetTracker()
- added area coordinate markers
- updated UAV mass in launch files
- fixed bumper infinity bug
- added constraints publisher
- updated transformer calls
- added OFFBOARD fall-out check with subsequent motors(0)
- added WORLD_NAME parameter to launch files
- updated R-mode params
- retard 2.0
- updated defaut constraints to something more sensible
- fixed bumper safety area transformation
- updated the null attitude command
- fixed common handler initialization before tracker loading
- safety area marker in local origin
- fixed max altitude bug
- added routines for validation of odom. and uav state
- added nan checks for cont. and track. commands
- fixed deadlock during null return check from controllers
- added service for resetting a tracker
- added bumper enabler services
- updated safety area markers
- added mavros gps subscriber
- generalized the transforms
- updated nulltracker's response
- extracted the tf transformer from control manager
- fixed rc channel empty detection bug
- updated get_mutexed calls
- refatored mutexes to use get_mutexed()
- fixed wrong mass publisher type
- fixed wrong integral gains
- fixed high integration gains
- added bumper to mpc tracker
- separated rviz visual markers coming from control manager
- fixed tf bug with asin
- changed fcu services to fcu_untilted
- updated disarming routine
- changed set_reference to just reference
- references are transformed by tfs
- added speed tracker
- added transformer
- added reference transform routine
- added odometry switch to uavStateCallback
- fixed race condition bug when failsafing after controller returns null
- Contributors: Matej Petrlik, Pavel Petracek, Pavel Petráček, Petr Stepan, Tomas Baca, Vit Kratky
- fixed retard mode rc channels
- added action options to rc eland
- extracted escalating failsafe into a standalone function
- move custom config loading after world file and motor params
- updated rinfos during landing
- updated the max thrust eland
- updated rinfo
- enabled max thrust automatic landing
- added status publisher to bumper
- updated partial landing
- added odometry innovation check
- updated partial landing
- fixed retakeoff
- enabled debil land
- disabling switch controller and tracker callbacks in eland, failsafe and debil land
- removed remembering of disturbances after second takeoff
- updated takeoff disturbance remembering
- fixed mass estimate during second takeoff
- fixed disabling of partial landing
- partial_landing -> partial_land
- added partial landing routine
- fixed landing disarming bug
- updated prints
- fixed world name in launch files
- udpated safety timer rates, added run-in-progress check for safety timer in control timer
- updated limits for eland and failsafe
- updated safety area interface
- fixed mutexing around new safety area methods
- added disabler for obstacle sectors and point obstacles
- updated control manager launch file
- increased carrot distance for rc joystick
- fixed crashing of ControlManager while retarding during eland
- fixed the activation of the first controller -> eland controller
- typo in NullTracker
- default controller for simulation is Se3
- height checking is optional, eland disarm is optional, minor changes
- added constraint override feature for controllers
- added supersoft gains for optflow for simulated uavs
- added yaw angle error check
- reworked control loop evaluation, added control oneshot timer
- updated control manager launch
- Add pavel slam for Chlumin experiment
- improved the mass difference checking during takeoff
- added controller namespace and name into the interface
- updated toggle of joystic control
- updated logitech joystic channels
- more missing gains for odometry types
- added missing gains to all uav types
- Added new estimators to constraint and gain managers
- increased MpcController eland limit
- added custom configs for controllers and trackers
- updated max thrust warning in uav manager
- fixed wrong NsfController address
- added set_integral_terms service to control_manager launch
- updated bumper condition
- updated the default vertical kq
- updating attitude gains
- updated and tuned simulation gains, slightly updated uav gains
- polishing launch files
- updated launch files
- working on custom configs
- forcing standalone when debugging
- added debug and tested standaloning
- 2nd rehaul of launchfiles
- rehauled launch files
- incresed the z jerk, =1 create takeoff problems
- updated remaps
- updated configs for the new "hierarchy" config model
- delete almost all launchfiles
- reworking launch files
- fixed bumper deadlock bug
- updated getStatus() of tracker and controllers
- removed NullTracker's constructor
- fixed some uninitialized bool variables
- utilizing landoff diagnostics for takeoff
- set eland controllers to MpcController
- fixed carrot_distance type to double in control manager
- generalized takeoff and landing for arbitrary initial z
- removed landing cutoff height from the landing condition
- parametrized carrot distance for rc joystic in control manager
- updated the retard mode to be relative to the reference
- patched the mode mask in when no controller is running
- added the initial body disturbance to control manager
- updated Controller.h interface, addid distrurbance visualization
- added pirouette
- parametrized automatic pc shutdown in control manager
- updated the shutdown routine
- fix in velodyne uav launch file
- added more clear rinfo to tracker reactivation during controller switching
- swapped switching of tracker and controller during takeoff
- added missing joybumper tracker parameters to simulation launch files
- new odometry launch files structure
- updated simulation gains and constraints
- added minimum thrust param for NullTracker
- updates in joystic control
- fixed Tomas's controller switching
- fixed joystick controller switching
- joystick channels move to config file
- updated launchfiles with JoyBumperTracker
- fallback tracker+controller for joystic are loaded from configs
- updating controllers even when they are not active
- added odometrySwitchRoutine to controller interface
- added control error publisher to control manager
- added acceleration controller for simulation
- added acceleration controller to simulation launchfile
- updated joystic channel from logitech joystic
- arming after landing is TRUE by default, switching to MPC controller after takeoff
- Add temporary solution: transpose to input obstacle matrixes
- Add multiple obstacles to safety_zone
- Added check for path between current position ang goto position
- Change the message type of safe_zone
- Add border polygon publisher
- added new sefety zone
- Change to SafetyZone and Polygon
- Contributors: Tomas Baca
- added more prints for odometry switch
- tweaks in rc eland trigger before takeoff
- fixed control manager crash during startup while RC eland is triggered
- BRICK + BRICKFLOW estimators
- uav manager triggers eland when takeoff fails
- removed the acceleration publisher
- switched to se3 controller after takeoff
- increased the odometry missing timeout
- fixed failsafe heading bug, fixed deadlock with safety timeout
- fixed reactivation of trackers and controllers during ehover and eland
- mpc is default for t650
- Add MpcController as eland for NAKI
- updated joytracker for t650
- updated rc goto
- switch takeoff tracker for naki
- disabled disarm after large tilt control error
- fixed disarm glitch after switching trackers
- updated the takeoff mass condition
- updated the channel numbers
- fixed the rc channel array check
- updated the retard mode
- increased eland and failsafe thresholds for MpcController
- JoyTracker falls back to MpcController
- fixed active_tracker_idx bug in control manager
- fixed race condition in switching controllers
- fixed the rc joystic mode
- updated remaps for mpc tracker
- added NullTracker activation in the init
- reworked loading of trackers' and controllers' parameters
- split failsafe and eland conditions for se3, mpc and other
- changed the number of "rc control" channel
- improved comments for the control error failsafe in control_manager.yml
- switched SE3 back to default for takeoff and after takeoff
- switched eland controller to Se3
- added mass estimator publisher to control manager
- constraints are passed to controllers
- increased the odom timeout for simulation
- added rc_joystics wiggle switch
- uav_manager needs SE(3)'s gain manager for takeoff
- gain manager will publish status when SE(3) is not active
- tracker is reactivated upon controller switch
- refurbished failsafes for hector slam
- updating takeoff routine with new control switching
- added tilt failsafe edgecase after switching controllers
- added hector estimator
- added failsafe trigger after unsuccessfull controller update
- failsafe trigger when controller update fails
- updated mavros dependency version
- Contributors: Matej Petrlik, Matej Petrlik (desktop), NAKI, Tomas Baca, Tomáš Báča, Vojtech Spurny, uav10, uav3, uav42, uav5, uav60