zr-v4

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	5a1aa8dfe7	AP_L1_Control: implement turn_distance() with turn angle uses a linear approximation for now.	11 years ago
Andrew Tridgell	aba11a0634	AP_L1_Control: wrap the target_bearing	11 years ago
Andrew Tridgell	b9128a932f	AP_L1_Control: no need to project position for lag now handled by AHRS	11 years ago
Andrew Tridgell	cfad814bfb	AP_L1_Control: fixed switchover from loiter capture to circling Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	11 years ago
Paul Riseborough	49fe7fea07	L1_Control : Added hysteresis for rear WP capture	11 years ago
Andrew Tridgell	1393ed58d0	AP_L1_Control: fixed waypoint approach logic this could cause the RTL approach to not break off onto the circle correctly	11 years ago
Andrew Tridgell	ea9a2eda3f	AP_L1_Control: reduced demanded bank angle by cos(pitch) this prevents attempts to do too tight turns while at a steep pitch Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	11 years ago
Andrew Tridgell	341dca4dfe	AP_L1_Control: added set_default_period() used by the rover code	12 years ago
Andrew Tridgell	144516c941	AP_L1_Control: set min groundspeed to 0.1 this works better for slow rovers	12 years ago
Andrew Tridgell	31fce44063	AP_L1_Control: use a reference to AHRS makes code a bit simpler	12 years ago
Andrew Tridgell	08ec43ef89	AP_L1_Control: use get_position()	12 years ago
Andrew Tridgell	b74ed795f2	AP_L1_Control: removed _maxf() and _geo2planar() functions not needed any more	12 years ago
Andrew Tridgell	653fa5a191	AP_L1_Control: adjust position for GPS lag this should help for rovers	12 years ago
Andrew Tridgell	fd4bceaafe	AP_L1_Control: avoid using float global coordinates this increases the navigation precision of rovers using L1 control down to the centimeter level	12 years ago
Andrew Tridgell	df8e8c64e8	AP_L1_Control: use projected position for turns	12 years ago
Andrew Tridgell	9c88872ad0	AP_L1_Control: use a better ground speed estimate at low speeds this should prevent a rover going in the wrong direction at the start of a mission	12 years ago
Andrew Tridgell	953051b49e	AP_L1_Control: added lateral acceleration interface this will be used by the Rover code for steering	12 years ago
Andrew Tridgell	cf4a74cfb8	AP_L1_Control: fix for new AP_Math API Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>	12 years ago
Paul Riseborough	0c64c800b3	AP_L1_Control : Fixed bug in track capture angle limit	12 years ago
Andrew Tridgell	097718e833	AP_L1_Control: scale loiter and wp radius with altitude this should keep the aircraft stable in loiter at very high altitudes Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	12 years ago
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

33 Commits (4c3480796d6cc270a3ae2414e0b76e716161801d)