5d96804ef3
AR_WPNav: add protection against zero accel max
3 years ago
a1b9fe5097
AR_WPNav: jerk time reduced to 0.1 sec
3 years ago
c6dffb990f
AR_WPNav: add set_nudge_speed_max
...
allows pilot to override speed_max from RC input
3 years ago
394a5fd2fc
AR_WPNav: get/set_desired_speed renamed to get/set_speed_max
...
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
3 years ago
1996085282
AR_WPNav: init accepts speed max
...
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
3 years ago
a91025fa16
AR_WPNav: remove unused speed_min
3 years ago
537874c075
AR_WPNav: jerk_max maintained in position controller
3 years ago
54eee7d311
AR_WPNav: simplify init
3 years ago
d03e801b65
AR_WPNav: remove get_accel_max, get_jerk_max
3 years ago
ee317299fc
Rover: sailboats enable wpnav's overspeed support
3 years ago
653afbeb15
AR_WPNav: enable_overspeed added to improve sailboat support
3 years ago
2f6e098f23
AR_WPNav: always use local calculation of cross track
...
also calc_crosstrack_error may return negative values
3 years ago
c9369b05b3
Rover: auto does not set unused _reached_destination member
3 years ago
a6b22e4db9
Rover: guided does not set _reached_destination member
3 years ago
147b1284c9
Rover: guided mode fix for reached_destination during wpnav
3 years ago
34447fa7a8
Rover: integrate AR_WPNav_OA
3 years ago
74889f1c7a
Rover: guided integrates wpnav's support of fast updates
...
also guided implements wp_bearing, nav_bearing, crosstrack_error and
get_desired_lat_accel
3 years ago
729dfee01c
AR_WPNav: pivot turns stop before turning
3 years ago
e0a628bb8c
AR_WPNav: add is_fast_waypoint accessor
3 years ago
0bcae12ceb
AR_WPNav_OA: use wpnav's expect fast updates
3 years ago
f769a18996
AR_WPNav: add set_desired_location_expect_fast_update
3 years ago
1fd9da710d
AR_WPNav: add internal error if invalid destination received
3 years ago
461c5196e7
AR_WPNav: add ACCEL and JERK params and accessors
...
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
3 years ago
47ab961f42
AR_WPNav: fix application of turn-max-g
3 years ago
b1237ffe80
AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE
3 years ago
3d048ddcc2
AR_WPNav: fix pivot activation when reversing
3 years ago
6515e71fc1
AR_WPNav: move OA path planning handling into a separate class
3 years ago
2a1013e896
AR_WPNav: set desired lat accel and crosstrack to zero when disarmed
3 years ago
c66f6188ea
Rover: param conversion for WP_PIVOT params
...
parameters moved from WPNav to AR_PivotTurn
3 years ago
a185e78271
AR_WPNav: integrate AR_PivotTurn class
...
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
3 years ago
7225d74777
AR_PivotTurn: pivot turn controller
...
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
3 years ago
4c6bccc8d5
Rover: incorporate mission change detector
3 years ago
315c5fb7d7
Rover: GCS_PID_MASK supports Velocity North and East
3 years ago
95c69811cb
Rover: integrate position controller
3 years ago
9d629f5ecd
AR_WPNav: use position controller and s-curves
3 years ago
abc7bd446a
AR_PosControl: rover position controller
3 years ago
8fcefb59b1
AP_Math: add Vector2f::dot
3 years ago
23f8a00619
AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation
3 years ago
fff82bed75
AP_HAL: update prescaler tests
3 years ago
910406e82d
Plane: handle AIRBRAKE RC option
3 years ago
d9f819085c
AP_Math: add specialisation for sq(float)
...
avoids conversion to double
3 years ago
479b02e5b0
HWDEF: add SLCAN OTG port, correct defaults.param errors
3 years ago
0879b497a4
AP_Param: fixed param class conversion code
...
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.
I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
3 years ago
2e52496432
bootloaders: update spracing h7 extreme bootloader
3 years ago
eb996f28cc
AP_HAL_ChibiOS: spro H7 extreme updates.
...
cannot currently use both IMUs on spro H7 extreme due to CPU load
3 years ago
913afe7b4e
Blimp: fix duplicate param and remove params/values not used
3 years ago
63229d7eca
AP_HAL_SITL: correct disable channel maths
...
unilaterally write rcoutput to appease the sitl gods
3 years ago
6511a65b67
SRV_Channel: don't count disabled channels in mask and setup functions
...
disable channels that are not in use
3 years ago
4fa0e275fd
AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands
...
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
3 years ago
abb0bf34d2
test_3d_lines:fix test result for test_3d_lines
3 years ago
Randy Mackay
Andy Piper
Mark Whitehorn
Peter Barker
Henry Wurzburg
Andrew Tridgell
xianglunkai