ardupilot

Commit Graph

Author	SHA1	Message	Date
Randy Mackay	dd45647626	AC_PosControl: update some comments re leash lengths	11 years ago
Holger Steinhaus	345115fddd	AC_PosControl: fixed leash length calc for descent speed	11 years ago
jschall	024855014f	AC_PosControl: update _pos_error if it is being limited This fixes a bug that causes 10hz throttle noise.	11 years ago
Randy Mackay	9130c88f15	AC_PosControl: throttle rate to simple P controller	11 years ago
Randy Mackay	94fb9c4274	AC_PosControl: replace APM_PI with AC_P	11 years ago
Randy Mackay	8b8d6a8e01	AC_PosControl: use trig values from ahrs	11 years ago
Randy Mackay	551836c49d	AC_PosControl: make some methods const	11 years ago
Randy Mackay	26b257c8ba	AC_AttControl: alternative get_stopping_point_z	11 years ago
Randy Mackay	1b8791a142	AC_PosControl: remove debug	11 years ago
Randy Mackay	de34359808	AC_PosControl: recalculate leash when speed or accel modified	11 years ago
Randy Mackay	80ae3dca2e	AC_PosControl: remove debug	11 years ago
Randy Mackay	bbcf8cc84c	AC_PosControl: add horizontal pos control	11 years ago
Randy Mackay	3ce1c0a9d5	AC_PosControl: add get_alt_error method	11 years ago
Randy Mackay	8988b48ad8	AC_PosControl: add init take-off	11 years ago
Randy Mackay	dcac124105	AC_PosControl: add throttle controller	11 years ago
Randy Mackay	05bb943a69	AC_AttControl: first draft of PosControl class	11 years ago
Randy Mackay	c9415a08f1	AC_WPNav: use ahrs trig values	11 years ago
Randy Mackay	5767aa47d9	AC_WPNav: reduce leash length for stopping We now limit the target stopping point to 1x the xy leash length while previously it was 2x. This is justified because this limit is only used when the copter is travelling at higher speeds but at higher speeds air drag tends to make the copter stop more quickly naturally.	11 years ago
Randy Mackay	952afd296e	Copter: initialise waypoint leash length Without this initialisation the first RTL could be too aggressive as it tries to stop too suddenly	11 years ago
Andrew Tridgell	30fffa5854	AC_WPNav: fixed some build warnings	11 years ago
Tobias	c3309d909c	AC_WPNav: make more member pointers const	11 years ago
Tobias	bb5cf4a311	AC_WPNav: make member pointer to AP_InertialNav object const since it's never modified	11 years ago
Tobias	1ecb583dd9	AC_WPNav: replace unnecessary objects with const refs	11 years ago
Randy Mackay	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
Randy Mackay	6969ab573d	Copter: configurable max lean angle ANGLE_MAX parameter allows limiting the roll and pitch angles during manual and auto flight modes to anywhere from 10 to 80 degrees	12 years ago
Randy Mackay	bf5a50f738	WPNav: stopping point projection uses wp_leash	12 years ago
Randy Mackay	345924ddec	WPNav: replace LOITER_ACCEL_MAX with parameter Also removed unused _lean_angle_max variable	12 years ago
Randy Mackay	204f613467	WPNav: bug fix to reported distance to target This value is for reporting purposes only	12 years ago
Randy Mackay	518eba0729	WPNav: bug fix to loiter accel calculation Contribution from Leonard Hall	12 years ago
Randy Mackay	c4f17b3235	WPNav: rounding error fix in loiter Contributed by Leonard Hall	12 years ago
Randy Mackay	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
Randy Mackay	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
Randy Mackay	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
Randy Mackay	89bbf5844f	Copter WPNav: remove unused variable	12 years ago
Randy Mackay	8c4a7ec094	Copter WPNav: Leonard's improved speed fix Also pass in althold gain from main code	12 years ago
Randy Mackay	a1926441da	Copter: use fast tan for accel to lean angle calcs Committed on behalf of Leonard	12 years ago
Randy Mackay	d203f0295b	Copter: bug fix for vertical speed during missions	12 years ago
Randy Mackay	dbd6524f9f	Copter: WPNav consolidate acceleration #defines	12 years ago
Randy Mackay	e3dffb920b	Copter: initialise target vel in loiter	12 years ago
Randy Mackay	a474b97291	Copter: resolve compiler warning re unused vars	12 years ago
Randy Mackay	916f241fff	Copter: Leonard's improved Loiter	12 years ago
Randy Mackay	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
Randy Mackay	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
Randy Mackay	cb795ea536	WPNav: divide by zero checks	12 years ago
Randy Mackay	55235630b6	Copter: bug fix for slow loiter repositioning	12 years ago
Randy Mackay	61288fcb90	WPNav: make get_stopping_point method public	12 years ago
Randy Mackay	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
Randy Mackay	9f735c8d03	WPNav: add fast waypoints flag Waypoint is considered "reached" when the intermediate point reaches the destination	12 years ago
Randy Mackay	4704b729c2	WPNav: reduce max acceleration to 2.5m/s Also includes bug fix to ramp up of speed of intermediate point	12 years ago
Randy Mackay	328d900647	WPNav: flexible loiter speed Also includes bug fix to allow speeds > 10m/s during missions	12 years ago

16 Commits (31d3b6555f79eb1e4068997d7ab9cbb42e035ab6)