db51d37071
AC_WPNav: add clear_pilot_desired_acceleration
...
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
11 years ago
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
11 years ago
46fba47c8e
AC_WPNav: slow target point's speed near destination
11 years ago
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
11 years ago
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
11 years ago
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
11 years ago
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
11 years ago
648787a6c8
AC_WPNav: rename some definitions
11 years ago
2167dd7d3e
AC_WPNav: update target speed immediately
11 years ago
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
11 years ago
b15d4379d8
AC_WPNav: use atan2f, make methods const
11 years ago
24eb195aa3
WPNav: add yaw control for straight line wp nav
11 years ago
b42b12f7be
AC_WPNav: add get_spline_yaw
11 years ago
e5e71ce371
WPNav: add spline support
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
64cfcb2308
AC_WPNav: use trig values from ahrs
11 years ago
d4e4620159
AC_WPNav: remove unused PID references
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
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
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
...
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
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
5d23d5aaa7
WPNav: reduce loiter speed used to correct pos error
...
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
...
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
...
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
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
...
Also pass in althold gain from main code
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
916f241fff
Copter: Leonard's improved Loiter
12 years ago
cb795ea536
WPNav: divide by zero checks
12 years ago
61288fcb90
WPNav: make get_stopping_point method public
12 years ago
ed5ddfd9db
WPNav: initialise desired roll, pitch
...
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
12 years ago
9f735c8d03
WPNav: add fast waypoints flag
...
Waypoint is considered "reached" when the intermediate point reaches the
destination
12 years ago
4704b729c2
WPNav: reduce max acceleration to 2.5m/s
...
Also includes bug fix to ramp up of speed of intermediate point
12 years ago
328d900647
WPNav: flexible loiter speed
...
Also includes bug fix to allow speeds > 10m/s during missions
12 years ago
ad01aeee44
Copter: increase max loiter overshoot to 8.12m
12 years ago
c139134192
Copter: increase max loiter speed to 7.5m/s
12 years ago
6c081c3def
AC_WPNav: slow acceleration of intermediate point
12 years ago
ad40ba57be
AC_WPNav: optimise to reduce memory copies
...
save a few cycles
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
Randy Mackay
Ju1ien
Andrew Tridgell
Tobias