Randy Mackay
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2167dd7d3e
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AC_WPNav: update target speed immediately
|
11 years ago |
|
Randy Mackay
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d382fa51ee
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AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
|
11 years ago |
|
Randy Mackay
|
b15d4379d8
|
AC_WPNav: use atan2f, make methods const
|
11 years ago |
|
Randy Mackay
|
24eb195aa3
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WPNav: add yaw control for straight line wp nav
|
11 years ago |
|
Randy Mackay
|
b42b12f7be
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AC_WPNav: add get_spline_yaw
|
11 years ago |
|
Randy Mackay
|
e5e71ce371
|
WPNav: add spline support
|
11 years ago |
|
Randy Mackay
|
e86a21a254
|
AC_WPNav: remove AC_PID include
This is no longer required with introduction of PosControl lib
|
11 years ago |
|
Randy Mackay
|
9e31f0b985
|
AC_WPNav: use PosControl accessor
Saves 2bytes of RAM
|
11 years ago |
|
Randy Mackay
|
64cfcb2308
|
AC_WPNav: use trig values from ahrs
|
11 years ago |
|
Randy Mackay
|
d4e4620159
|
AC_WPNav: remove unused PID references
|
11 years ago |
|
Randy Mackay
|
1596d83d02
|
AC_WPNav: move leashes to AC_PosControl
|
11 years ago |
|
Randy Mackay
|
0d4ba04e75
|
AC_WPNav: make advance_wp_target private
|
11 years ago |
|
Randy Mackay
|
0c8cbba644
|
AC_WPNav: remove xy pos controller
|
11 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
c9415a08f1
|
AC_WPNav: use ahrs trig values
|
11 years ago |
|
Randy Mackay
|
0a3559813a
|
AC_WPNav: accessor for loiter speed
|
11 years ago |
Andrew Tridgell
|
30fffa5854
|
AC_WPNav: fixed some build warnings
|
11 years ago |
Tobias
|
c3309d909c
|
AC_WPNav: make more member pointers const
|
11 years ago |
|
Tobias
|
bb5cf4a311
|
AC_WPNav: make member pointer to AP_InertialNav object const since it's
never modified
|
11 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
345924ddec
|
WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
|
12 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
649cbf6b68
|
WPNav: reduce default WP_ACCEL and LOITER_SPEED
|
12 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
7a2afb7443
|
Copter Nav: add accessor for waypoint speed
|
12 years ago |
|
Randy Mackay
|
8c4a7ec094
|
Copter WPNav: Leonard's improved speed fix
Also pass in althold gain from main code
|
12 years ago |
|
Randy Mackay
|
d203f0295b
|
Copter: bug fix for vertical speed during missions
|
12 years ago |
|
Randy Mackay
|
dbd6524f9f
|
Copter: WPNav consolidate acceleration #defines
|
12 years ago |
|
Randy Mackay
|
e3dffb920b
|
Copter: initialise target vel in loiter
|
12 years ago |
|
Randy Mackay
|
916f241fff
|
Copter: Leonard's improved Loiter
|
12 years ago |
|
Randy Mackay
|
cb795ea536
|
WPNav: divide by zero checks
|
12 years ago |
|
Randy Mackay
|
61288fcb90
|
WPNav: make get_stopping_point method public
|
12 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
9f735c8d03
|
WPNav: add fast waypoints flag
Waypoint is considered "reached" when the intermediate point reaches the
destination
|
12 years ago |
|
Randy Mackay
|
4704b729c2
|
WPNav: reduce max acceleration to 2.5m/s
Also includes bug fix to ramp up of speed of intermediate point
|
12 years ago |
|
Randy Mackay
|
328d900647
|
WPNav: flexible loiter speed
Also includes bug fix to allow speeds > 10m/s during missions
|
12 years ago |
|
Randy Mackay
|
ad01aeee44
|
Copter: increase max loiter overshoot to 8.12m
|
12 years ago |
|
Randy Mackay
|
c139134192
|
Copter: increase max loiter speed to 7.5m/s
|
12 years ago |
|
Randy Mackay
|
6c081c3def
|
AC_WPNav: slow acceleration of intermediate point
|
12 years ago |
|
Andrew Tridgell
|
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
|
2fc25da4c3
|
Copter: Leonard's fix for get_loiter_accel_to_lean_angle
|
12 years ago |
|
Randy Mackay
|
1c046fa49f
|
AC_WPNav: increase max descent speed to 1.5m/s
|
12 years ago |
|
Randy Mackay
|
764853bd56
|
AC_WPNav: add climb and descent params, dynamic leash length
|
12 years ago |
|
Randy Mackay
|
effd5b0da7
|
AC_WPNav: improved comments
Made SPEEDZ a parameter although it's not yet used
|
12 years ago |
|
Randy Mackay
|
8046fe2cf3
|
AC_WPNav: increase max accel to 8m/s/s
|
12 years ago |
|
Randy Mackay
|
8fe3e689f4
|
Copter: add WPNAV log message
|
12 years ago |
|
Randy Mackay
|
0eab3e87b2
|
AC_WPNav: use prev wp as origin for next wp
|
12 years ago |
|
Randy Mackay
|
0351c2ae33
|
AC_WPNav: allow setting of horizontal velocity
Also added accessor function for waypoint radius parameter
|
12 years ago |
