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Commit Graph

63 Commits (45f27ceb9cf7c11635cf8bd7b1a0ec6952da7d11)

Author	SHA1	Message	Date
Andrew Tridgell	86db955ac9	AP_L1_Control: fixed indent-tabs-mode	12 years ago
Paul Riseborough	9f309a2aa6	AP_L1_Control: Remove potential nan errors ... If WP A and B were the same or ground speed was exactly zero, then the previous code would produce a nan output. Protection against these two cases has been added. If WP A and B are equal, we track directly to the target waypoint	12 years ago
Andrew Tridgell	9654546b5a	AP_L1_Control: Cleaned up calculation of damping to reduce computations ... also removed _cross2D, using math library instead	12 years ago
Andrew Tridgell	ba83950fc4	libraries: replace constrain() with constrain_float() ... this makes the type much more obvious. Thanks to Tobias for the suggestion.	12 years ago
Andrew Tridgell	c067fa2660	L1_Control: make NAVL1_DAMPING docs clearer	12 years ago
priseborough	84ed37938d	Plane : AP_L1_Control : Replaced division by constants with multiplies and adjusted default L1 period to 25 seconds	12 years ago
priseborough	9ff0888a17	AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation	12 years ago
Andrew Tridgell	97bfd16bd1	L1_Control: constrain the roll to handle floating point errors	12 years ago
Andrew Tridgell	571c48b9d5	L1_Control: cleanup some unused code and variables	12 years ago
priseborough	a423d102e0	Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry	12 years ago
Andrew Tridgell	181f7368a3	AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance ... this gives less surprising behaviour for users	12 years ago
Andrew Tridgell	dca597cda1	L1_Control: added a comment on speed of the L1 control code	12 years ago
Brandon Jones	a3c2851120	AP_L1_Control: Addition of library for geometry calculations required for L1 Control. ... 1) Explicit control of tracking loop period and damping which removes previous variation in period with speed and fixed damping ratio 2) Explicit control of track capture angle (now set to 45 degrees by default) 3) Removal of restriction on loiter radius being greater than L1 distance The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking. Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au> Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>	12 years ago