bf5a50f738
WPNav: stopping point projection uses wp_leash
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
204f613467
WPNav: bug fix to reported distance to target
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This value is for reporting purposes only
12 years ago
518eba0729
WPNav: bug fix to loiter accel calculation
...
Contribution from Leonard Hall
12 years ago
c4f17b3235
WPNav: rounding error fix in loiter
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Contributed by Leonard Hall
12 years ago
5d23d5aaa7
WPNav: reduce loiter speed used to correct pos error
...
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
12 years ago
dde19c9585
WPNav: add acceleration parameter
...
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
12 years ago
272f0e5032
Copter: reduce twitch when entering CIRCLE mode
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Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
12 years ago
89bbf5844f
Copter WPNav: remove unused variable
12 years ago
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
...
Also pass in althold gain from main code
12 years ago
a1926441da
Copter: use fast tan for accel to lean angle calcs
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Committed on behalf of Leonard
12 years ago
d203f0295b
Copter: bug fix for vertical speed during missions
12 years ago
dbd6524f9f
Copter: WPNav consolidate acceleration #defines
12 years ago
e3dffb920b
Copter: initialise target vel in loiter
12 years ago
a474b97291
Copter: resolve compiler warning re unused vars
12 years ago
916f241fff
Copter: Leonard's improved Loiter
12 years ago
46d65150af
Copter: lengthen loiter stopping point
...
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
12 years ago
400c1bd7b7
Copter: smooth waypoint transitions
...
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
12 years ago
cb795ea536
WPNav: divide by zero checks
12 years ago
55235630b6
Copter: bug fix for slow loiter repositioning
12 years ago
61288fcb90
WPNav: make get_stopping_point method public
12 years ago
ed5ddfd9db
WPNav: initialise desired roll, pitch
...
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
12 years ago
9f735c8d03
WPNav: add fast waypoints flag
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Waypoint is considered "reached" when the intermediate point reaches the
destination
12 years ago
4704b729c2
WPNav: reduce max acceleration to 2.5m/s
...
Also includes bug fix to ramp up of speed of intermediate point
12 years ago
328d900647
WPNav: flexible loiter speed
...
Also includes bug fix to allow speeds > 10m/s during missions
12 years ago
1f8161b493
AC_WPNav: remove unnecessary speed constraint
12 years ago
647a93e78e
Copter: remove jerk when entering RTL or AUTO
...
Loiter target position was not being initialised properly.
Add a few more comments
12 years ago
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
12 years ago
6c081c3def
AC_WPNav: slow acceleration of intermediate point
12 years ago
ad40ba57be
AC_WPNav: optimise to reduce memory copies
...
save a few cycles
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
2fc25da4c3
Copter: Leonard's fix for get_loiter_accel_to_lean_angle
12 years ago
ed298363f4
AC_WPNav: remove unnecessary limit in leash calc
12 years ago
764853bd56
AC_WPNav: add climb and descent params, dynamic leash length
12 years ago
effd5b0da7
AC_WPNav: improved comments
...
Made SPEEDZ a parameter although it's not yet used
12 years ago
8fe3e689f4
Copter: add WPNAV log message
12 years ago
0eab3e87b2
AC_WPNav: use prev wp as origin for next wp
12 years ago
0351c2ae33
AC_WPNav: allow setting of horizontal velocity
...
Also added accessor function for waypoint radius parameter
12 years ago
252e98ec57
AC_WPNav: use global gravity constant
12 years ago
9d7d174995
AC_WPNAV: check distance to waypoint within library
...
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
12 years ago
35001619f0
AC_WPNav: stop track_desired from moving backwards
12 years ago
c6b68c7843
AC_WPNav: Leonard's 3d leash calculator
12 years ago
74e1c2e660
AC_WPNav: advance track fixes
12 years ago
6dbcbdcb43
AC_WPNav: limit max loiter position error
...
move interpretation of pilot input to wpnav lib
12 years ago
31838b2865
AC_WPNAV: change loiter controllers to use floats
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in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
12 years ago
0ccdce1b22
AC_WPNav: Leonard's ff loiter and 3d wp nav
12 years ago
926c404994
AC_WPNav: Leonard's loiter target smoothing
12 years ago
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
12 years ago
afd2f82768
AC_WPNav: bug fix for track covered being 2D
...
Replaced abs and fabs with fabsf
Added get_destination method
12 years ago
8ec7fd1c9c
AC_WPNav: add set_loiter_target to use velocity
...
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
12 years ago
60060d8184
AC_WPNav: add get_target_alt
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Required because waypoint controller will be modified to control
altitude
12 years ago
Randy Mackay
Andrew Tridgell