a423d102e0
Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry
12 years ago
d01d754ba8
HAL_PX4: if we have lost RC input then set channel 3 to 900
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this allows failsafe to kick in
12 years ago
181f7368a3
AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance
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this gives less surprising behaviour for users
12 years ago
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
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this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
12 years ago
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
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this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
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
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Also added accessor function for waypoint radius parameter
12 years ago
252e98ec57
AC_WPNav: use global gravity constant
12 years ago
0ac3762bdd
AC_WPNav: fix compiler warning
12 years ago
9d7d174995
AC_WPNAV: check distance to waypoint within library
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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
bc87118062
AC_WPNav: add get_target_alt method
12 years ago
6dbcbdcb43
AC_WPNav: limit max loiter position error
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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
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Replaced abs and fabs with fabsf
Added get_destination method
12 years ago
8ec7fd1c9c
AC_WPNav: add set_loiter_target to use velocity
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Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
12 years ago
fc972e2d42
InertialNav: add get_velocity method
12 years ago
3bfcc3b8d0
AC_WPNav: replace get_target_alt with get_destination_alt
12 years ago
c40080e76a
AC_WPNav: added set_target_alt
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
0d70ba1030
AC_WPNav: bug fix to dt calculation
12 years ago
39bc3800c9
AC_WPNav: add distance and bearing to target methods
12 years ago
b92c4097d2
AC_WPNav: first implementation
12 years ago
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
12 years ago
a5c3051929
AP_GPS: fixed initialisation error in uBlox driver
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found with valgrind
12 years ago
dca597cda1
L1_Control: added a comment on speed of the L1 control code
12 years ago
a3c2851120
AP_L1_Control: Addition of library for geometry calculations required for L1 Control.
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1) Explicit control of tracking loop period and damping which removes previous
variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance
The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
12 years ago
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
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Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
12 years ago
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
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functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
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these are very useful for navigation libraries
12 years ago
43c3c60de2
AP_Math: moved a lot of vector templates to cpp from .h
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this reduces the code size quite a lot on AVR
12 years ago
78eb12a4ac
AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH
12 years ago
8b119934ea
AP_Math: fixed grammar error
12 years ago
2d29a6a7be
AP_Math: added Vector2f.angle()
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useful for calculating the vector in polar coordinates
12 years ago
f6aacdc768
AP_Navigation: added a navigation controller class
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the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
cdb532a594
Copter: bug fix for loiter target
12 years ago
86fe79a662
INS: updated MPU6K_FILTER parameter description
12 years ago
217b8d7a59
cleanup: use const for struct Location pointers and references
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this allows the compiler to generate more efficient code
12 years ago
6516bffbb6
AP_Camera: enable relay off in all builds
12 years ago
8d992ae615
InertialSensor: added OilPan INS example
12 years ago
af13f6795c
INS: switch to global definition of GRAVITY_MSS
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saves 4 bytes of RAM
12 years ago
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
12 years ago
c07702f46d
Update AP_MotorsOctaQuad.cpp
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There were two "4"s in the motor test order values. Presumably a typo.
12 years ago
739e3c2b9a
Copter: adjust trapezoidal motor mixing
12 years ago
e32cbd827b
Copter: replace quad trapezoid frame with V
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Also update motor mixing
12 years ago
priseborough
Andrew Tridgell
Randy Mackay
Brandon Jones
tobias
Stange Szilard
foobarbecue