b7579bb028
Copter: move init of global nav variables to set_nav_mode
12 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
05248738e2
Copter: bug fix for take-off in loiter
12 years ago
c3daf78340
Copter: reset loiter target when landed
12 years ago
02b64e259d
Copter: bug fix for descent during loiter_turns
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
facd8fc89f
Copter: calculate home position and bearing when we have 2D Fix
12 years ago
f1bedc70ac
Copter: SuperSimple mode bug
...
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
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
1b08f12d53
Circle: allow counter clockwise rotation
12 years ago
99f5462a03
Copter: circle mode fixes
12 years ago
4ad395e7be
Copter: merge WPNAV into NTUN dataflash message
12 years ago
870b9b0fbb
Copter: only run nav controllers when auto-armed
...
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
12 years ago
74dca6da22
Copter: move update_commands to run_autopilot fn
...
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
12 years ago
5ad9deecfb
Copter: cleanup some bit if tests to be clearer
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
82c604dd67
Copter: more constrain fixes
12 years ago
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
12 years ago
0b808abbed
Copter: remove unused waypoint_valid function
12 years ago
8fe3e689f4
Copter: add WPNAV log message
12 years ago
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
12 years ago
700fb1b179
Copter: replace sin_yaw_y, cos_yaw_x in circle mode
12 years ago
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
12 years ago
a65960a009
Copter: use velocity based set_loiter_target
12 years ago
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
12 years ago
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
12 years ago
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
12 years ago
49828eba7d
Copter: integrate AC_WPNav
12 years ago
cdb532a594
Copter: bug fix for loiter target
12 years ago
95d944f610
Copter: Jason's bug fix for loiter's set_next_WP_latlon
12 years ago
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
12 years ago
b280857025
Copter: use common angle wrap code
12 years ago
61e29173e3
Copter: remove unused crosstrack variables and parameters
...
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
12 years ago
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
12 years ago
5380973225
Copter: only start delay timer after reaching wp location and altitude
12 years ago
e0506bd622
Copter: inav circle initial implementation
12 years ago
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
12 years ago
6f27bc7ae5
Copter: remove filters from inav loiter
12 years ago
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
...
small corrections to allow waypoints to work with new inertial nav wp
controller
12 years ago
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
12 years ago
37d3e1d7e4
Copter: add zero slope checks to wpinav
...
also added RTL fix to set wpinav target explicitly
12 years ago
53ab1d5d9b
Copter: add advance track call to actually move towards waypoint
...
Also added unrelated check that waypoint is valid before updating
waypoint distance.
12 years ago
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
12 years ago
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
12 years ago
aaecc25ac7
Copter: leonard's inav2
...
Moved loiter controller to navigation.pde
12 years ago
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
...
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
12 years ago
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
04677bfb95
Copter: constrain auto roll and pitch to 45 degrees
12 years ago
d6b3d370c3
Correct spelling of run_navigation_contollers
12 years ago
Randy Mackay
Olivier-ADLER
Andrew Tridgell
Robert Lefebvre
James Bielman
jschall