6af705d455
AC_Circle: bug fix for pos target when radius is zero
11 years ago
bf3effcd10
AC_WPNav: fix example sketch
11 years ago
fbf8106280
AC_Circle: remove AC_PID include
...
This is no longer required with introduction of PosControl lib
11 years ago
e86a21a254
AC_WPNav: remove AC_PID include
...
This is no longer required with introduction of PosControl lib
11 years ago
9e31f0b985
AC_WPNav: use PosControl accessor
...
Saves 2bytes of RAM
11 years ago
598a1b1f43
AC_Circle: use trig values from ahrs
11 years ago
64cfcb2308
AC_WPNav: use trig values from ahrs
11 years ago
17177adccf
AC_Circle: remove debug comment
11 years ago
864f64b61a
AC_Circle: circle control library
11 years ago
d4e4620159
AC_WPNav: remove unused PID references
11 years ago
fc427967ae
AC_WPNav: set wp origin to horiz and vert stopping point
...
Also bug fix to set pos_control's down speed as a negative number
11 years ago
4cd45e2edf
AC_WPNav: remove debug
11 years ago
1596d83d02
AC_WPNav: move leashes to AC_PosControl
11 years ago
0d4ba04e75
AC_WPNav: make advance_wp_target private
11 years ago
0c8cbba644
AC_WPNav: remove xy pos controller
11 years ago
2984e492df
AC_WPNav: add reference to AC_PosControl
...
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
11 years ago
c9415a08f1
AC_WPNav: use ahrs trig values
11 years ago
0a3559813a
AC_WPNav: accessor for loiter speed
11 years ago
29b37b72e4
AC_WPNAV: fixed example build
11 years ago
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
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
30fffa5854
AC_WPNav: fixed some build warnings
11 years ago
c3309d909c
AC_WPNav: make more member pointers const
11 years ago
bb5cf4a311
AC_WPNav: make member pointer to AP_InertialNav object const since it's
...
never modified
11 years ago
1ecb583dd9
AC_WPNav: replace unnecessary objects with const refs
11 years ago
e1aa6e3ff1
libraries: fixed examples for no flash_leds() callback
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
6969ab573d
Copter: configurable max lean angle
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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
82152c058e
AC_WPNav: disabled broken example build
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this test doesn't actually do anything yet
12 years ago
bf5a50f738
WPNav: stopping point projection uses wp_leash
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
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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
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Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
12 years ago
649cbf6b68
WPNav: reduce default WP_ACCEL and LOITER_SPEED
12 years ago
dde19c9585
WPNav: add acceleration parameter
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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
7a2afb7443
Copter Nav: add accessor for waypoint speed
12 years ago
89bbf5844f
Copter WPNav: remove unused variable
12 years ago
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
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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
Randy Mackay
Andrew Tridgell
Tobias