25f1a4a4e1
AC_WPNav: add shift_wp_origin_to_current_pos_xy
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also add shift_wp_origin_and_destination_to_stopping_point_xy
5 years ago
593ff6818d
AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL
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Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
Changed at Leonard's request to keep things simpler
5 years ago
3ca28e27c6
AC_WPNav: add get_terrain_source and rename existing method
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this allows RTL to determine which source of terrain data will be used which is required when building the return path
5 years ago
56de1f2eed
AC_WPNav: do not calculate NEU vector from invalid location
5 years ago
6361a9a204
AC_WPNav: constify get_wp_destination
6 years ago
f21fcca9d0
AC_WPNav: take references to inav's position rather than a copy
6 years ago
ce48b82500
AC_WPNav: remove brake
6 years ago
d3d6bed584
AP_WPNav: Change the value of the minimum effective radius
6 years ago
d9ddb8f34d
AC_WPNav: use enum class for AltFrame enumeration
6 years ago
cde2964f05
AC_WPNav: split set_speed_z into up and down
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Also rely on AC_PosControl to store current target up and down speeds so wpnav's defaults are not affected by do-change-speed requests
6 years ago
e93dee89b7
AC_WPNav: rely on AC_PosControl to hold current target speed
6 years ago
8ac09c0483
AC_WPNav: use dt from pos controller
6 years ago
0215aff8f4
AC_WPNav: adjust for Location_Class and Location unification
6 years ago
7fa7c8f403
AC_WPNav: add set_speed_z
6 years ago
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
6 years ago
d3bee76f0b
AC_WPNav: Cope with AC_PosControl renaming
6 years ago
c03e50660c
AC_WPNav: check validity of kP
7 years ago
bffe3f6c21
AC_WPNav: add getter for crosstrack_error
7 years ago
4c8c85f75b
AC_WPNav: remove pointless initialisations
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new clears this memory
7 years ago
fa0b315374
AC_WPNav: use rangefinder for terrain offset even if terrain not available
7 years ago
2c962afe98
AC_WPNav: add get_wp_destination to get a Location_Class for the wp
7 years ago
494735db2e
AC_WPNav: Change the variable name according to the unit.
7 years ago
9426ee6df6
AC_WPNav: remove loiter
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Loiter is in separate AC_Loiter class
7 years ago
0ba22a1feb
AC_WPNav: remove brake dependency on loiter
7 years ago
032b4373f6
AC_WPNav: removed brake's unused dt calc
7 years ago
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
7 years ago
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
7 years ago
5be1020578
AC_WPNav: use multiply instead of divide
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non-functional change
7 years ago
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
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This was only used by poshold and this has been removed as part of "new-loiter"
7 years ago
1c0678226c
AC_WPNav: new loiter including accel ff and braking
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Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
7 years ago
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
7 years ago
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
7 years ago
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
7 years ago
f189ce5c68
AC_WPNav: minor formatting fix
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non-functional change
7 years ago
368245017a
AC_WPNav: access pos-controller's horizontal p object
7 years ago
094620bc8a
AC_WPNav: pass dt to avoidance
7 years ago
4d0c24f4eb
AC_WPNav: RFND_USE param desription update
7 years ago
dff27ec506
AC_WPNav: correct call for getting location vector
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Function has been renamed and only takes a Vector2f
7 years ago
1a512609ac
AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead
7 years ago
07c8d208bc
AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC)
7 years ago
e49d29f8cd
AC_WPNav: protect against divide by zero
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This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
7 years ago
da7aa36f2d
AC_WPNav: add set_wp_destination_NED to accept target in meters NED
8 years ago
bd2ba1565c
AC_WPNav: minor format fix
8 years ago
079d2ff3be
AC_WPNav: correct min limit
8 years ago
a1a5c9f239
AC_WPNav: sanity check wpnav-radius
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Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
8 years ago
bffc5daeb0
AC_WPNav: unset yaw when setting new origin and destination
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This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
8 years ago
b1bd3f0364
AC_WPNav: yaw points along leash
8 years ago
62c123bb08
AC_WPNav: correct straight line waypoint leash calculation
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The former calculation was not correctly using the 3D leash
8 years ago
ba011eef78
AC_WPNav: init z-axis feed-foward to correct stopping point calcs
8 years ago
e2cf836734
AC_WPNav: add get_stopping_point
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returns 3D stopping point, simply re-uses pos_controller methods
8 years ago
Leonard Hall
bnsgeyer
Randy Mackay
Peter Barker
Rishabh
murata
chobits
Michael du Breuil
liang.tang
Pierre Kancir
Dr.-Ing. Amilcar Do Carmo Lucas
squilter