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
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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
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
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This was only used by poshold and this has been removed as part of "new-loiter"
7 years ago
a356cfa529
AC_Circle: init resets desired velocity_xy
7 years ago
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
7 years ago
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
7 years ago
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
7 years ago
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
7 years ago
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
7 years ago
f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
7 years ago
efbd8eb386
AC_WPNav: remove unused definition
...
This has been moved to AC_PosControl library
7 years ago
368245017a
AC_WPNav: access pos-controller's horizontal p object
7 years ago
094620bc8a
AC_WPNav: pass dt to avoidance
7 years ago
4d0c24f4eb
AC_WPNav: RFND_USE param desription update
7 years ago
dff27ec506
AC_WPNav: correct call for getting location vector
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Function has been renamed and only takes a Vector2f
7 years ago
1a512609ac
AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead
7 years ago
07c8d208bc
AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC)
7 years ago
e49d29f8cd
AC_WPNav: protect against divide by zero
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This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
7 years ago
Peter Barker
Randy Mackay
Pierre Kancir
chobits
mirkix
Michael du Breuil
Leonard Hall
liang.tang
murata
Dr.-Ing. Amilcar Do Carmo Lucas