224c32edf0
AR_WPNav: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
3 years ago
0dd9a8028b
AR_WPNav: integrate scurve snap
3 years ago
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
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
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
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
9d629f5ecd
AR_WPNav: use position controller and s-curves
3 years ago
54cf46b8e9
AR_WPNav: rename AP_AHRS::get_position to get_location
3 years ago
3a492c8e3c
AR_WPNav: minor comment improvement
3 years ago
7cd767fe6d
AR_WPNav: improve pivot turn accuracy to 5deg (was 10)
3 years ago
e9f6a5afdf
AR_WPNav: integrate PathPlanner returning path_planner_used
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Rover does not need to handle the results differently based on the planner used
4 years ago
333588d7d4
AR_WPNav: add WP_PIVOT_DELAY parameter
4 years ago
c5503b9aed
AP_WPNav: read turn G acceleration from Atitude control
4 years ago
a2fe846a5f
AR_WPNav: apply_speed_min used for overshoot limits
...
speed_min is applied to overshoot_speed_max only instead of des_speed_lim
so that the target doesn't immediately jump to the minimum.
also constify apply_speed_min
4 years ago
e75c572209
AR_WPNav: remove redundant private specifier
4 years ago
f57082a2e0
AR_WPNav: Add note to WP_PIVOT_ANGLE
4 years ago
89a4f83527
AR_WPNav: minor param description typo fix
5 years ago
551f7d66c1
AR_WPNav: update crosstrack error during pivot turns
5 years ago
da746d6e8c
AR_WPNav: pivot only when destination set
...
this avoids unhelpful pivots as the vehicle reaches the waypoint when WP_RADIUS is very small
5 years ago
e7d98648e6
AR_WPNav: Reset WP origin if recovering from OA
5 years ago
43449a4adb
AR_WPNav: remove unneeded overshoot methods
5 years ago
b6efcbcf3b
AR_WPNav: make get_stopping_location public
5 years ago
db87285153
AR_WPNav: add oa_wp_bearing_cd function
6 years ago
c445362fae
AR_WPNav: fix wp_bearing_cd calc
6 years ago
f5a307fb13
AR_WPNav: add speed_min parameter
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Should be set to boat's plane speed and ensure vehicle does not slow below this speed in corners
6 years ago
030eab0f86
AR_WPNav: stop vehicle if OA processing fails
6 years ago
70e9881880
AR_WPNav: integrate OAPathPlanner
6 years ago
ce44d127c0
AR_WPNav: add is_destination_valid accessor
6 years ago
b0f0b16135
AR_WPNav: remove unnecessary temp variable
...
also heading-unknown made a const
also minor comment fix
also removed unused include
6 years ago
6f97f56726
AR_WPNav: add WARN_IF_UNUSED to various methods, fix for same
6 years ago
Peter Barker
Randy Mackay
Tatsuya Yamaguchi
Iampete1
Rishabh
Peter Hall