ab1a7baf71
Copter: project stopping point for loiter command
12 years ago
022148ec0d
Copter: LAND only control horizontal position if we have GPS lock
12 years ago
993bccc60e
Copter: point nose at landing point if specified
12 years ago
9f59f2724f
Copter: bug fix for take-off when throttle is zero
...
Verify_takeoff was always returning false if throttle was zero. The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
12 years ago
79bd8b4fd0
rtl resets yaw to same as when armed - unless user specifies otherwise
12 years ago
0460147a15
Copter: guided mode yaw fix
...
Nose of copter now points at next guided point if it is more than 10m
away
12 years ago
429f900460
Copter: bug fix for RTL bearing
...
Also smooth RTL's initial climb stage by projecting stopping point
12 years ago
ad656c7e8a
Copter: allow lat/lon to be specified for land
12 years ago
b3bca271d4
Copter: rename verify_must to verify_nav_command
...
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
12 years ago
b65d714675
Copter: set yaw-mode in do_loiter mission command
12 years ago
1b52ee211a
Copter: bug fix for RTL yaw control
...
Nose was only pointing home if your initial altitude was above the
RTL_ALT
12 years ago
1b2d8636ca
Copter: set wp to "fast" if they have no delay
12 years ago
105bd32a2e
Copter: fixed some uses of constrain_float() to be right type
12 years ago
25c576cad7
Copter: replaced constrain() with constrain_float()
12 years ago
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
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
d65d7d95e2
Copter: bug fix for take-off so it never descends
...
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
12 years ago
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
...
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
12 years ago
a7b32caf72
Copter: bug fix for loiter_time check
...
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
12 years ago
8c7a1597dc
Copter: remove debug comment from RTL
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
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
553f40a99c
Copter: bug fix to loiter delay
...
change delay to seconds to allow delays longer than 65seconds
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
b280857025
Copter: use common angle wrap code
12 years ago
a1295c042b
Copter: fix init of wp_verify_byte so wp alt is always required
12 years ago
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
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
574756908d
Copter: set wpinav controller targets in nav calls
...
All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
12 years ago
00bc28adcc
Copter: take-off code cleanup
...
remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
12 years ago
37d3e1d7e4
Copter: add zero slope checks to wpinav
...
also added RTL fix to set wpinav target explicitly
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
9d34ead486
Copter: fix up some casting issues for wp_distance
12 years ago
6f5050a8b9
Copter: minor casting fixup for wp_distance
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
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
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
ccaa7a52ef
Copter: RTL bug fix to initial step is always a climb and not a descent
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Also bug fix to hold yaw on take-off
12 years ago
76f032160c
Copter: relax altitude check in verify_takeoff
...
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
12 years ago
c447b4b79b
ArduCopter: move setting of land's yaw mode to the do_land function
12 years ago
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
All changes by Sandro Benigno
12 years ago
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
12 years ago
d3cbf733ba
ArduCopter: ensure RTL performs a land if a failsafe has been triggered
12 years ago
1b5ff6aac6
ArduCopter: restore initial climb to RTL
12 years ago
d8e3d5c10c
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
12 years ago
ddc578fd18
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
12 years ago
Randy Mackay
Dr Gareth Owen
Andrew Tridgell
James Bielman