56de1f2eed
AC_WPNav: do not calculate NEU vector from invalid location
5 years ago
aeb98c7555
AC_WPNav: integrate OAPathPlanner
...
includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
6 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
f2163fbc24
AC_WPNav: use singleton for getting AC_Avoid instance
6 years ago
b668c6f855
AC_Circle: improve target heading
6 years ago
d3d6bed584
AP_WPNav: Change the value of the minimum effective radius
6 years ago
9ebe5d7de9
AC_WPNav: lowering waypoint radius minimum to 5cm
6 years ago
6fbbabd333
AC_WPNav: add origin_and_destination_are_terrain_alt accessor
6 years ago
5ebaeaf5d2
AC_WPNav: add rangefinder_used accessor
...
used by zigzag mode to determine if terrain altitudes can be used
6 years ago
6364e6d4c1
AC_WPNav: stop casting poscontrol's roll/pitch/yaw to int32_t
6 years ago
2c5373e278
AC_WPNav: add floating point constant designators
6 years ago
7b5fb719dc
AC_WPNav: Remove unused internals, and unneeded initilizers
6 years ago
d9ddb8f34d
AC_WPNav: use enum class for AltFrame enumeration
6 years ago
078eef91cb
AC_WPNav: prevent I term buildup during landing
...
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.
Thanks to Leonard for the suggestion
6 years ago
5bf511fc6d
AC_WPNav: remove keywords.txt
6 years ago
cde2964f05
AC_WPNav: split set_speed_z into up and down
...
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
b0811c86e7
AC_WPNav: rename get_speed_xy to get_default_speed_xy
...
This hopefully clarifies that the default speed is returned and not the current speed
6 years ago
e93dee89b7
AC_WPNav: rely on AC_PosControl to hold current target speed
6 years ago
f5431ff661
AC_WPNav: improve wp_speed_cm variable comments
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
f0ca4de313
AC_WPNav: add reached_wp_destination_xy
6 years ago
7fa7c8f403
AC_WPNav: add set_speed_z
6 years ago
0c9fd0ae93
AC_WPNav: fix typo
6 years ago
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
6 years ago
f0181be9c9
AC_Loiter: init_target only inits pos controller if inactive
...
this reduces a twitch found during the development of zig-zag mode
6 years ago
65641c3cb7
AC_Circle: Cope with AC_PosControl renaming
6 years ago
d3bee76f0b
AC_WPNav: Cope with AC_PosControl renaming
6 years ago
31d93f5914
AC_Loiter: reduce twitch on init
7 years ago
8664ed006a
AC_Circle: use stopping point to get closest point on circle
7 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
...
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
f6cf52a748
AC_Loiter: move defines to cpp
7 years ago
757a35f3ba
AC_Loiter: consolidate sanity checks
7 years ago
9de73a994f
AC_Circle: add get distance and bearing to target
7 years ago
9426ee6df6
AC_WPNav: remove loiter
...
Loiter is in separate AC_Loiter class
7 years ago
0ba22a1feb
AC_WPNav: remove brake dependency on loiter
7 years ago
cc5ad7c004
AC_Loiter: loiter extracted from AC_WPNav
7 years ago
032b4373f6
AC_WPNav: removed brake's unused dt calc
7 years ago
5215588ba0
AC_WPNav: remove unused set_desired_alt
...
also remove unused get_desired_alt
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
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
7 years ago
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
7 years ago
Peter Barker
Randy Mackay
Rishabh
murata
Guglielmo
Michael du Breuil
Andrew Tridgell
Pierre Kancir
chobits
mirkix
Leonard Hall
liang.tang