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Henrik/velocity/merge - #697

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Henrimha wants to merge 151 commits into

mainfrom

Henrik/velocity/merge

Open

Henrik/velocity/merge#697
Henrimha wants to merge 151 commits into
mainfrom
Henrik/velocity/merge

Commits on Sep 24, 2025
- added Node, publisher, launch file, config file
  Henrimha
  committed
  ab3bd3a
- added subscriber with topic in config
  Henrimha
  committed
  23fea72
- Added hpp file
  Henrimha
  committed
  1d1cb53
- added subscriber to current velocity and pitch maybe
  Henrimha
  committed
  60dbb72
Commits on Oct 1, 2025
- Changed parameter file, topic and subscriber name
  Henrimha
  committed
  252ec54
- Made PI regulator, able to plot the thrust
  Henrimha
  committed
  58a87f9
Commits on Oct 7, 2025
- Implemented the LQR lib from python
  Henrimha
  committed
  2760cbe
Commits on Oct 8, 2025
- added a PID_controller class
  Henrimha
  committed
  fc5d99b
- changed datatypes, information flow
  Henrimha
  committed
  b962ad5
Commits on Oct 12, 2025
- New get_paramters function, changed topics in test_node
  Henrimha
  committed
  5e8e77a
Commits on Oct 19, 2025
- nye versjonen av guidance
  Anbit
  committed
  2fb9d91
- fixed code so that it likely could compile if I had Drake. Made a Utility file
  Henrimha
  committed
  40eb88f
Commits on Oct 22, 2025
- Removed Drake, Changed from std::vector to Eigen in LQR
  Henrimha
  committed
  9141eca
Commits on Oct 26, 2025
- los test
  Anbit
  committed
  064adef
- Implemented LQR solver, SLICOT call and some dimension mistakes
  Henrimha
  committed
  7019787
Commits on Oct 28, 2025
- merging origin/main into anbit/guidance
  Anbit
  committed
  bbd8564
- Resolve stash conflicts: keep my YAML; keep main's joystick node
  Anbit
  committed
  e6ae145
- fixing my error
  Anbit
  committed
  4d22267
Commits on Oct 29, 2025
- maths behind proportional LOS
  Anbit
  committed
  3f3e671
Commits on Nov 2, 2025
- refactor: change los structure
  Anbit
  committed
  2688e27
- refactor: remove unused los package
  Anbit
  committed
  798542a
- fix: fix ignore lib
  Anbit
  committed
  3bb8926
- Fixed LQR_solve_k_p
  Henrimha
  committed
  3afca97
Commits on Nov 5, 2025
- Changed LQR test file, it works
  Henrimha
  committed
  2f6c253
- Changed launch file, fixed QoS problem and changed ouput topic
  Henrimha
  committed
  9ec7fd4
- Test: add test files for ALos and Plos
  
  Anbit Adhikari
  authored and
  Anbit Adhikari
  committed
  b7f63a9
Commits on Nov 9, 2025
- complete the restructuring of ros node
  Anbit
  committed
  ee303e7
Commits on Nov 12, 2025
- Complete los switchin
  Anbit
  committed
  c687343
- All changes until christmas
  Henrimha
  committed
  314a60b
- [pre-commit.ci] auto fixes from pre-commit.com hooks
  pre-commit-ci[bot]
  committed
  03560cf
Commits on Jan 5, 2026
- ci: trigger Industrial CI on PRs and main branch pushes
  
  kluge7
  authored and
  Anbit
  committed
  66b252e
- Add C++ and CMake pre-commit hooks (#568)
  
  kluge7
  authored and
  Anbit
  committed
  a36297a
- docs: add pre-commit CI badge to README
  
  kluge7
  authored and
  Anbit
  committed
  a10e639
- refactor: merge the two pre-commit files to replace the pre-commit-ci bot
  
  kluge7
  authored and
  Anbit
  committed
  b2e632b
- Feat/waypoint manager (#645)
  
  jorgenfj
  authored and
  Anbit
  committed
  ef96e1e
- Refactor/type rename (#647)
  
  jorgenfj
  authored and
  Anbit
  committed
  8f15552
- refactor to new utils ros packages (#648)
  
  jorgenfj
  authored and
  Anbit
  committed
  84ae150
- Added support for vortex utils and changed to using their ssa
  Henrimha
  committed
  76da1d9
Commits on Jan 6, 2026
- Fix: Issues from feedback on PR draft
  Anbit
  committed
  cb4156b
- New parameters for water resistance
  Henrimha
  committed
  5ce96ef
- removed unneccessary features, added euler angle publisher
  Henrimha
  committed
  1305ea7
- fixed dumb bugs
  Henrimha
  committed
  f5d698a
- fix git
  Anbit
  committed
  524a97e
- Fixed bugs so that it works
  Henrimha
  committed
  b7805ea
Commits on Jan 7, 2026
- Start vector Feild LOS & Clean code
  Anbit
  committed
  8c61007
- Adda vector field LOS & Test
  Anbit
  committed
  294ab77
Commits on Jan 8, 2026
- Start quto-euler for graphing
  Anbit
  committed
  edc7185
Commits on Jan 15, 2026
- Fix emailaddress error for git
  anbit-adhi
  committed
  763f784
Commits on Jan 16, 2026
- Fix building error
  anbit-adhi
  committed
  f073936
Commits on Jan 23, 2026
- Clean the code
  anbit-adhi
  committed
  70d0bb3
Commits on Jan 24, 2026
- reworked the LQR
  Henrimha
  committed
  65a37c2
- minor changes to PID
  Henrimha
  committed
  7273d43
- added framework for tests
  Henrimha
  committed
  ab5a067
Commits on Jan 25, 2026
- Finished tests for PID, and changed PID
  Henrimha
  committed
  98d4faa
- Fix build error
  anbit-adhi
  committed
  47b5121
- added framework for LQR_tests, changed CMake into 2 files(test and nontest)
  Henrimha
  committed
  a55e636
Commits on Jan 31, 2026
- Fixed integrator, unstability and LQR tests, added repository, other minor changes
  Henrimha
  committed
  c79cee8
- fixed bug and crash in LQR test
  Henrimha
  committed
  5099e51
Commits on Feb 4, 2026
- Fix surge error
  anbit-adhi
  committed
  6a13ca1
- 0;9uMerge branch 'main' into anbit/guidance
  anbit-adhi
  committed
  2baeae8
Commits on Feb 9, 2026
- Added NMPC, functioning. Sinus references
  Henrimha
  committed
  5d31409
Commits on Feb 11, 2026
- Add stoping msg publishes when goal reached
  anbit-adhi
  committed
  2bd2c4e
Commits on Feb 16, 2026
- Add a square test script
  anbit-adhi
  committed
  52c919f
- Fix Cmake problome for squaretest
  anbit-adhi
  committed
  11e8d60
- Fix adaptive param lag
  anbit-adhi
  committed
  30568ab
Commits on Feb 22, 2026
- Add tuning parameters
  anbit-adhi
  committed
  73b460c
- Merge branch 'main' into anbit/guidance
  anbit-adhi
  committed
  bb54545
- merge main updates into this branch
  anbit-adhi
  committed
  29a5709
Commits on Feb 24, 2026
- Add tuned parameters
  anbit-adhi
  committed
  76f803e
- Fix vector feild simulation issues
  anbit-adhi
  committed
  6ecdc9f
Commits on Feb 25, 2026
- Added acados NMPC, ill conditioned needs fixing
  Henrimha
  committed
  4c59e21
- Merge remote-tracking branch 'origin' into anbit/guidance
  anbit-adhi
  committed
  b71f62c
Commits on Mar 1, 2026
- no longer numericly unstable, just numericly wrong
  Henrimha
  committed
  3a10402
Commits on Mar 8, 2026
- Clean code and readMe draft
  anbit-adhi
  committed
  17d89c9
- ReadMe draft
  anbit-adhi
  committed
  374230a
- add changes to readMe file
  anbit-adhi
  committed
  853741d
- Add more stuff in readme-file
  anbit-adhi
  committed
  2476ace
- fix pre-commit issues
  anbit-adhi
  committed
  0f4094a
- Fix pre-commit header issues
  anbit-adhi
  committed
  a8bf5b4
- Merge remote-tracking branch 'origin' into anbit/guidance
  anbit-adhi
  committed
  820694d
- fix build error
  anbit-adhi
  committed
  bdb00db
Commits on Mar 9, 2026
- Fixed LQR controller, signs, refactored into scripts folder, tried to implement implicit integrator in NMPC
  Henrimha
  committed
  1d8df3a
- Changed how one verifies the control output from LQR
  Henrimha
  committed
  4beeab0
- Fix issues with new operation_manager
  anbit-adhi
  committed
  c8a1da7
- Add clamp for pitch
  anbit-adhi
  committed
  a2927ad
- Fix some duplicate issues
  anbit-adhi
  committed
  7f7fdde
- Fix max_pitch to 55 degres
  anbit-adhi
  committed
  f64e566
Commits on Mar 12, 2026
- Merge branch 'main' into anbit/guidance
  anbit-adhi
  committed
  4509286
- Fix: merge issiue
  anbit-adhi
  committed
  7a39ece
Commits on Mar 15, 2026
- Merge remote-tracking branch 'origin' into anbit/guidance
  anbit-adhi
  committed
  3841172
Commits on Mar 16, 2026
- Start: Test libraary for los
  anbit-adhi
  committed
  0431417
- Merge remote-tracking branch 'origin/Henrik/velocity_control' into autopilo-test
  anbit-adhi
  committed
  ae31273
- Initial fixes
  Henrimha
  committed
  f495f8b
Commits on Mar 19, 2026
- changed to lifecycle node
  Henrimha
  committed
  2e73cff
- changed to global parameter file
  Henrimha
  committed
  b6f144b
- Changed more to global paramter file
  Henrimha
  committed
  c6a2047
- removed unneccessary parameters
  Henrimha
  committed
  4818dae
Commits on Mar 23, 2026
Commits on Mar 24, 2026
- changed launch files, works now
  Henrimha
  committed
  94b1d70
- minor bug fixes
  Henrimha
  committed
  5b68001
- untracked som files
  Henrimha
  committed
  b29e76d
- added autostart and odometry dropout checks
  Henrimha
  committed
  ff2cdc5
- seperate config files for seperate drones, and PID parameters from config file
  Henrimha
  committed
  07b3737
- preparing to merge changes to autopilot branch and branch for pushing to main
  Henrimha
  committed
  0acc8cb
- more changes to prepare for merges
  Henrimha
  committed
  32a51d2
- more changes to prepare for merges
  Henrimha
  committed
  a06855f
- Add: Slowing down while reaching the goal
  anbit-adhi
  committed
  7ec9873
- idk what this is
  Henrimha
  committed
  52b958b
- Autopilot new start
  anbit-adhi
  committed
  b9e2d8a
- new fixes
  Henrimha
  committed
  b61a37a
- fixed error calculation, and NED to body calculation
  Henrimha
  committed
  3e6f6f1
Commits on Mar 25, 2026
- Some cleanup in LQR, ros, and added PID external error
  Henrimha
  committed
  df6aab0
- changed the file system so that test files is only built when testing
  Henrimha
  committed
  182688f
- cleaned up the program for push
  Henrimha
  committed
  e7a3eaa
- Cleaned up a bit more, removed comments, Guidance_values class and LQRParameters class
  Henrimha
  committed
  f4d9c57
- Added ReadMe file
  Henrimha
  committed
  c018821
Commits on Mar 29, 2026
- updated autopilot.launch.py
  Henrimha
  committed
  31a3a0e
- updated to be on point with easter testing branch
  Henrimha
  committed
  cb88a38
- Removed .cache file from tracking
  Henrimha
  committed
  e02dc47
- removed the changes in los_guidance
  Henrimha
  committed
  de375d3
- Merge branch 'main' of github.com:vortexntnu/vortex-auv into Henrik/velocity/merge
  Henrimha
  committed
  bbe0eaf
- Minor changes here and there
  Henrimha
  committed
  0c11cff
- some pre commit hooks auto changes
  Henrimha
  committed
  92a43c3
- updated guidance repositry from main
  Henrimha
  committed
  e198b16
- no move contructor and no move assignment
  Henrimha
  committed
  6a90ce7
- fixed some pre commit hooks
  Henrimha
  committed
  a42b6c3
- more precommit hooks fixes
  Henrimha
  committed
  6968952
- final pre commit hooks
  Henrimha
  committed
  6eb2d7e
- reverted guidance to main
  Henrimha
  committed
  786b98e
- new try at reverting guidance to version from main
  Henrimha
  committed
  c106bbb
- thougts and prayers
  Henrimha
  committed
  edf1e1b
Commits on Apr 1, 2026
- first draft of fixing PR comments, and added control manager and generic controller type
  Henrimha
  committed
  c1ae0ac
Commits on Apr 2, 2026
- minor tuning
  Henrimha
  committed
  e438f33
Commits on Apr 10, 2026
- Changed initialization of controllers
  Henrimha
  committed
  f080525
- Merge branch 'main' of github.com:vortexntnu/vortex-auv into Henrik/velocity/merge
  Henrimha
  committed
  6b5e9ce
- removed changes to config files
  Henrimha
  committed
  e29606d
Commits on Jun 7, 2026
- added general clamping
  Henrimha
  committed
  1e05128
- controller class does not copy states anymore and LQR now uses better clamping
  Henrimha
  committed
  6a9910b
Commits on Jul 4, 2026
- God fixed my include error, cause I didn't do shit, restructure finished :)
  Henrimha
  committed
  b6c6fa6
- Added unit tests for a lot of my code and slightly changed the structure. A lot of AI. Does not pass all tests, and have not verified the tests. Fixed minor bugs and added a guard for null_pointer …
  Henrimha
  committed
  e2ef935
Commits on Aug 31, 2026
- Added tests for each module and integratin test, ans small fixes. Integration test crashes for now
  Henrimha
  committed
  df4afad
Commits on Sep 7, 2026

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Commits on Mar 24, 2026