- adding big dofec stuff
- updated dofec motor params
- Contributors: Dan Hert, Tomas Baca
- added dit2 motor params
- updated debug prints
- refactored agains the new transformer
- MpcController: fixed the use of setHeading()
- install in cmakelists
- add configs: simulation/naki
- add ScopeTimer and its logger to all controllers
- updated brus params
- Contributors: Dan Hert, Pavel Petracek, Tomas Baca
- fixed landing detection, again
- increase linear velocity in z-axis to 0.3 in the anti-windup check
- MpcController: fixed uninitialized reference variables
- updated the acceleration output of the MpcController
- added brus configs
- added midair activation
- added brus simulation configs
- added destructor implementation to controllers
- updated initial failsafe thrust
- added dofec uav config
- increased the inital thrust of failsafe
- updated f450 configs
- updated naki mpc gains
- lowered down failsafe landing aggressivity
- updated naki mpc config
- add motor_params_naki_v2.yaml config for Dronument drone
- added t18 configs
- updated debug prints
- updated ros::shutdown
- Contributors: Matej Petrlik, Pavel Petracek, Tomas Baca
- linted
- updated thrust curves
- SE3: not calculating orient. error when using rate reference
- updated compilation flags
- fixed double -> bool variables
- Contributors: Tomas Baca
- Major release
- Major SE(3) controller overhaul, new heading control approach
- Major MpcController overhaul, new heading control approach
- Minor FailsafeController bug fixes
- Noetic-compatible
- Contributors: Matej Petrlik, Robert Penicka, Tomas Baca, Tomáš Báča
- allowed emergency ctrl to have non-zero integrals
- Contributors: Tomas Baca
- update darpa green motors params
- fixed fcu acceleration output
- added version checks
- removed the Baca thrust constant
- acceleration published in fcu
- updated accel publishers
- refactored odometry switch with transformer
- increased timeout for profiler routine
- decreased mpc integral gains
- added mpc initial condition validation
- decreased mpc and emergency max tilt to 30 deg
- updated t650 attiude controller's gains
- updated atttitude controller's outputs
- added rampup into attitude command
- refactoring uninitialized variables
- added verbosity to rampup
- fixed mass initialization in rampup
- fixed wrong mpc gains for hardware
- Add f450 motor params for grey/green darpa t-motors
- updated failsafe activation
- PartialLanding: fixed prints in activate()
- increased t650 mpc integral gains
- set emergency controller's integral gains to 0
- updated flip mitigation
- added rampup to mpc and se3
- updated the flip mitigation
- updated nsf gains
- added the option for speed controller integrals to se3 and mpc
- updated controller's interface
- updated to new attitude cmd flags
- Contributors: Tomas Baca
- beautified the print for mitigating flip
- fixed application of mass factor
- fixed kq vertical for most drones to 0.1
- added partial landing controller
- added the constraints override feature
- added yaw rate saturation to MpcController
- added emergancy controller
- added service for enabling integral terms into MpcController
- improved printing and documentation
- added world conversion of integral feedback to attitude target
- added disturbances to attitude command
- fixed the body integrator yaw rotation bug
- removed unsued drs from mpc controller
- updated prints of integral terms
- refactored controllers' dynamic reconfigure
- added missing mutex for MPC
- updated mpc solver
- fixed deactivation bug in controllers
- added integrals of MPC controller to DRS
- added loadReference method in mpc solver
- added odometry switch routine to SE3, MPC and NSF controllers
- re-setting Q and S in mpc tracker before every iteration
- added acceleration controller
- moved mpc solver from mpc_controller to its own namespace and folder
- Contributors: Tomas Baca
- added feedback disablation to mpc controller during takeoff
- added desired acceleration to outputs
- increased failsafe thrust constants
- fixed the mass antiwindup in MPC
- constraints are passed to controllers
- mpc now controls the z axis
- added negative z-force detection and flip mitigation
- fixed body integral in se3, cleaned configs
- upgraded se3's max tilt saturation and failsafe (Naki's accident)
- fixed body rate orientation for new Mavros
- Mpc controller
- fixed attitude rate reference frame
- Contributors: Tomas Baca