13c26eab67
Copter: update current_loc at 400hz
9 years ago
2e6b6e473a
Copter: fix home_distance calculation
...
Distance was calculated vs EKF origin instead of AHRS home
10 years ago
278883c521
Copter: finished conversion to .cpp files
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
10 years ago
356ece3402
Copter: rename .pde files to .cpp files
10 years ago
9e156d2f81
Copter: always update current_loc regardless of inav state
...
If inertial nav is not initialised these will be set to zero anyway
10 years ago
2cb63dc792
Copter: don't assume home is at the origin
10 years ago
cc52bbbffb
Copter: update current loc once home is set
10 years ago
199dc3454d
Copter: replace GPS_ok with position_ok
...
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
10 years ago
a4f71e5946
Copter: replace inav's position_ok with get_filter_status
10 years ago
f54a13f24b
Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided
...
This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
10 years ago
817c893f21
Copter: bug fix for conditional_distance command
...
Due to a race condition, the wp_distance was not being updated before
the conditional_distance
11 years ago
359f1a27ec
Copter: process cmds from mission lib
11 years ago
174318a2a9
Copter: remove set_nav_mode
11 years ago
1f07c2efe0
Copter: remove old circle
11 years ago
d70862e44b
Copter: remove case that does nothing
11 years ago
dc6f622d48
Copter: move NTUN logging to 10hz loop
11 years ago
0a2adbac1b
Copter: renaming functions after moving xy control
11 years ago
5fd9410ff5
Copter: much renaming as xy pos controller moves
11 years ago
aaa62eeb28
Copter: integrated simpler init loiter from WP_Nav
11 years ago
8f5585423c
Copter: use ahrs trig values
11 years ago
a744658b47
Copter: combine nav_roll and control_roll
...
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
11 years ago
03831cdd28
Copter: GPS ok only when not glitching
...
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
11 years ago
520a535c21
Copter: TOY mode updates
11 years ago
0c0de7c53e
Copter: simple mode speedup
...
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
12 years ago
b7579bb028
Copter: move init of global nav variables to set_nav_mode
12 years ago
45aeb1a921
Copter: split up loiter into 4 steps
...
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
12 years ago
05248738e2
Copter: bug fix for take-off in loiter
12 years ago
c3daf78340
Copter: reset loiter target when landed
12 years ago
02b64e259d
Copter: bug fix for descent during loiter_turns
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
facd8fc89f
Copter: calculate home position and bearing when we have 2D Fix
12 years ago
f1bedc70ac
Copter: SuperSimple mode bug
...
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
12 years ago
272f0e5032
Copter: reduce twitch when entering CIRCLE mode
...
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
12 years ago
1b08f12d53
Circle: allow counter clockwise rotation
12 years ago
99f5462a03
Copter: circle mode fixes
12 years ago
4ad395e7be
Copter: merge WPNAV into NTUN dataflash message
12 years ago
870b9b0fbb
Copter: only run nav controllers when auto-armed
...
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
12 years ago
74dca6da22
Copter: move update_commands to run_autopilot fn
...
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
12 years ago
5ad9deecfb
Copter: cleanup some bit if tests to be clearer
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
82c604dd67
Copter: more constrain fixes
12 years ago
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
12 years ago
0b808abbed
Copter: remove unused waypoint_valid function
12 years ago
8fe3e689f4
Copter: add WPNAV log message
12 years ago
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
12 years ago
700fb1b179
Copter: replace sin_yaw_y, cos_yaw_x in circle mode
12 years ago
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
12 years ago
a65960a009
Copter: use velocity based set_loiter_target
12 years ago
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
12 years ago
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
12 years ago
Randy Mackay
Andrew Tridgell
Jonathan Challinger
Jason Short
Olivier-ADLER
Andrew Tridgell