a356cfa529
AC_Circle: init resets desired velocity_xy
7 years ago
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
7 years ago
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
7 years ago
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
7 years ago
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
7 years ago
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
7 years ago
f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
7 years ago
efbd8eb386
AC_WPNav: remove unused definition
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This has been moved to AC_PosControl library
7 years ago
368245017a
AC_WPNav: access pos-controller's horizontal p object
7 years ago
094620bc8a
AC_WPNav: pass dt to avoidance
7 years ago
4d0c24f4eb
AC_WPNav: RFND_USE param desription update
7 years ago
dff27ec506
AC_WPNav: correct call for getting location vector
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Function has been renamed and only takes a Vector2f
7 years ago
1a512609ac
AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead
7 years ago
07c8d208bc
AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC)
7 years ago
e49d29f8cd
AC_WPNav: protect against divide by zero
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This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
7 years ago
da7aa36f2d
AC_WPNav: add set_wp_destination_NED to accept target in meters NED
8 years ago
222dd0c9be
AC_WPNav: correct comments
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all position vectors are offsets from the ekf origin (not from the ahrs home)
8 years ago
bd2ba1565c
AC_WPNav: minor format fix
8 years ago
079d2ff3be
AC_WPNav: correct min limit
8 years ago
a1a5c9f239
AC_WPNav: sanity check wpnav-radius
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Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
8 years ago
bffc5daeb0
AC_WPNav: unset yaw when setting new origin and destination
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This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
8 years ago
b1bd3f0364
AC_WPNav: yaw points along leash
8 years ago
62c123bb08
AC_WPNav: correct straight line waypoint leash calculation
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The former calculation was not correctly using the 3D leash
8 years ago
ba011eef78
AC_WPNav: init z-axis feed-foward to correct stopping point calcs
8 years ago
e2cf836734
AC_WPNav: add get_stopping_point
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returns 3D stopping point, simply re-uses pos_controller methods
8 years ago
e96332d346
AC_WPNav: reduce spline to straight twitch
8 years ago
d4c4daca16
AC_WPNav: speed-up and down parameter min to 10cm/s
8 years ago
8c6c2e46cc
AC_WPNav: protect against LOIT_SPEED divide-by-zero
8 years ago
96303c3092
AC_WPNav: Add accessor for origin, and make get_bearing_cd() public
8 years ago
17e1329068
AC_WPNav: converted to use AP_AHRS_View
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for use in quadplane tailsitters
8 years ago
713b08d830
AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s
8 years ago
8419045aea
Spell in comments
8 years ago
a32068a973
AC_WPNav: remove ekf position reset handler
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This has been migrated to the position control library
8 years ago
6406e34016
AC_WPNav: remove unused _loiter_step member
8 years ago
1eca4e128d
AC_WPNav: method to retrieve current desired pilot accels
8 years ago
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
c664eec93b
AC_WPNav: remove unused variable _last_update
8 years ago
c87fa13e77
AC_WPNav: added WP_RFND_USE parameter
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allows disable of rangefinder use for terrain following
9 years ago
2dc111ff39
Copter: reduce WPNAV_LOIT_MINA parameter description range
9 years ago
b5e80148c6
AC_WPNav: remove shift_loiter_target
9 years ago
86ceee4a53
AC_WPNav: fixed typo
9 years ago
8a6aa24525
AC_WPNav: use AC_Avoidance to stop at fence during Loiter
9 years ago
2bafc36ded
AC_WPNav: support rangefinder for terrain following
9 years ago
684ac12dd6
AC_WPNav: fix compile when using AP_TERRAIN_AVAILABLE 0
9 years ago
3033c53834
AC_WPNav: Fix typos
9 years ago
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
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It makes sense to consider also other floating point types.
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
1c4b2be16a
AC_WPNav: simplify use of terrain to just current location
9 years ago
c5a3781507
AC_WPNav: accept terrain library reference
9 years ago
Leonard Hall
Randy Mackay
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
squilter
Jacob Walser
Andrew Tridgell
murata
Mathieu OTHACEHE
Jonathan Challinger
Daniel Ricketts
Tom Pittenger
Ricardo de Almeida Gonzaga
dgrat