new mode class member _desired_speed_final holds target speed at destination
main vehicle code passes heading to next waypoint into auto mode.
we do not provide heading when delaying at waypoint which signals we wish
auto-mode calculates final speed at destination which allows vehicle to
make turn within value of WP_OVERSHOOT parameter assuming vehicle turns at
maximum lateral acceleration.
also direct throttle nudge replaced with speed nudge
calc_speed_max estimates vehicle's top speed based on cruise-speed and
cruise-throttle
steering mode now provides total target speed instead of using speed plug
throttle nudge
motor limits provided to attitude control to stop i-term buildup
uses negative desired speed instead of reversed flag
reporting to GCS uses new throttle controller
braking is simply enabled and allows a reverse motor output regardless of vehicle
speed
set_guided_WP replaced by mode_guided.set_desired_location
nav_set_yaw_speed replaced with mode_guided.set_desired_heading_and_speed
set_guided_velocity replaced with mode_guided.set_desired_turn_rate_and_speed
guided_control structure replaced with mode_guided members
use_pivot_steering accepts yaw-error argument instead of calculating it itself internally
updating mission is handled by the vehicle code
slows down for turns
add active at destination
remove setting of loiter start time
removes unused calc_nav_steer
add ahrs reference
add set-desired-location method
move _reached_destination member in from child
calc_lateral_acceleration args renamed and added comemnts
calc_lateral_acceleration updates _yaw_error_cd
remove calc_lateral_acceleration method with no arguments
calc_throttle updates _speed_error and becomes protected
remove unused variables from calc_throttle
calc_reduced_speed_for_turn_or_distance reworked
do not use rover throttle or rtl_complete
calc_nav_steer comment updates
remove unused update_navigation
Randy Mackay
Peter Barker
khancyr