7ec7b478f0
AC_WPNav: add getter for wp_radius_cm
3 years ago
8a3a787b76
AC_WPNav: honour changes to wp-speed-up and wp-speed-down in-flight
3 years ago
9342ded2bb
AC_WPNav: cope with negative WPNAV_SPEED_DN
...
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
3 years ago
ec53a41ffd
AC_WPNav: monitor WPNAV_SPEED for changes
3 years ago
28a14b3602
AC_WPNav: move definitions to .cpp file
3 years ago
af9a91c853
Copter: terrain spelling fix
3 years ago
ba50f68390
AC_WPNav: terrain spelling fix
3 years ago
a7f14efef2
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
4 years ago
fb5c458132
AC_WPNav: add TER_MARGIN param
4 years ago
5dcfee07d9
AC_WPNav: Auto Terain following update
4 years ago
ce254153c1
WP_Nav: Return Crosstrack error
4 years ago
2d28c1065e
AC_WPNav: use singleton to access AP_Terrain data
4 years ago
59909970fa
AC_WPNav: Remove unused function
4 years ago
430492469b
AC_WPNav: get_terrain_offset and get_vector_NEU made public
4 years ago
1d00cab9e6
AC_WPNav: convert circle, loiter and WPNav to double position
4 years ago
bf91168cd6
AC_WPNav: cleanup position control APIs
...
use Vector2 for xy, float for z
4 years ago
a79a3d2051
AC_WPNav: move get_yaw lower in AC_WPNav.h
...
this is a non-functional change
4 years ago
ccf06f66f7
AC_WPNav: integrate AC_PosControl::get_roll_cd rename
4 years ago
00b44ff6c8
AC_WPNav: remove unused function
4 years ago
361ba989bd
AC_WPNav: Use Pos_Control Heading
4 years ago
939d8e3ed4
AC_WPNav: Support Thrust Vector Control
4 years ago
bebb7e7d8f
AC_WPNav: removed unused enums
4 years ago
fd88e53be6
AC_WPNav: remove unassigned _track_desired
4 years ago
2201450180
AC_WPNav: renames and comment fixes
4 years ago
85b24cf641
AC_WPNav: fix get_wp_destination_loc
...
was incorrectly adding alt-above-terrain as if it was alt-above-ekf-origin
also fixup comments
4 years ago
32c27b32aa
AC_WPNav: support for SCurve navigation
...
set_wp_destination clear yaw target
limit velocity and acceleration based on track slope
add is_active() and remove unused reached_spline_destination
init accepts desired speed
set_kinematic_limits uses current speed limits instead of defaults
add time compression to prevent target moving too fast for air
implement alternative spline
remove vel-target-length
set_wp_destination always calculates this leg
set_kinematic_limits moved to scurve
fix origin speed after spline segment
spline terrain following fix
handle s-curves with mismatching alt types
fix set_spline_destination_next
add update_track_with_speed_accel_limits
Change to next waypoint at corner apex
use scurve advance along track
remove unused definitions and out-of-date todo
set_spline_destination_next sets fast_waypoint
scurve origin speed set from spline target velocity
fixup takeoff delay
4 years ago
79c9b4b523
AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s
4 years ago
eafd702773
AC_WPNav: add comment clarifying get_wp_destination alt frame
4 years ago
530eb6d236
AC_WPNav: remove unused reached_spline_destination
4 years ago
f3e2b182a1
AC_WPNav: add rangefinder_used accessor
5 years ago
25f1a4a4e1
AC_WPNav: add shift_wp_origin_to_current_pos_xy
...
also add shift_wp_origin_and_destination_to_stopping_point_xy
5 years ago
593ff6818d
AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL
...
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
Changed at Leonard's request to keep things simpler
5 years ago
3ca28e27c6
AC_WPNav: add get_terrain_source and rename existing method
...
this allows RTL to determine which source of terrain data will be used which is required when building the return path
5 years ago
aeb98c7555
AC_WPNav: integrate OAPathPlanner
...
includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
6 years ago
6361a9a204
AC_WPNav: constify get_wp_destination
6 years ago
ce48b82500
AC_WPNav: remove brake
6 years ago
f2163fbc24
AC_WPNav: use singleton for getting AC_Avoid instance
6 years ago
9ebe5d7de9
AC_WPNav: lowering waypoint radius minimum to 5cm
6 years ago
6fbbabd333
AC_WPNav: add origin_and_destination_are_terrain_alt accessor
6 years ago
5ebaeaf5d2
AC_WPNav: add rangefinder_used accessor
...
used by zigzag mode to determine if terrain altitudes can be used
6 years ago
6364e6d4c1
AC_WPNav: stop casting poscontrol's roll/pitch/yaw to int32_t
6 years ago
7b5fb719dc
AC_WPNav: Remove unused internals, and unneeded initilizers
6 years ago
cde2964f05
AC_WPNav: split set_speed_z into up and down
...
Also rely on AC_PosControl to store current target up and down speeds so wpnav's defaults are not affected by do-change-speed requests
6 years ago
b0811c86e7
AC_WPNav: rename get_speed_xy to get_default_speed_xy
...
This hopefully clarifies that the default speed is returned and not the current speed
6 years ago
f5431ff661
AC_WPNav: improve wp_speed_cm variable comments
6 years ago
0215aff8f4
AC_WPNav: adjust for Location_Class and Location unification
6 years ago
f0ca4de313
AC_WPNav: add reached_wp_destination_xy
6 years ago
7fa7c8f403
AC_WPNav: add set_speed_z
6 years ago
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
6 years ago
bffe3f6c21
AC_WPNav: add getter for crosstrack_error
7 years ago
Iampete1
Peter Barker
Andrew Tridgell
Randy Mackay
Pierre Kancir
Leonard Hall
chobits
bnsgeyer
Rishabh
Guglielmo
Michael du Breuil
Pierre Kancir