3ca28e27c6
AC_WPNav: add get_terrain_source and rename existing method
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this allows RTL to determine which source of terrain data will be used which is required when building the return path
5 years ago
aeb98c7555
AC_WPNav: integrate OAPathPlanner
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includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
6 years ago
6361a9a204
AC_WPNav: constify get_wp_destination
6 years ago
ce48b82500
AC_WPNav: remove brake
6 years ago
f2163fbc24
AC_WPNav: use singleton for getting AC_Avoid instance
6 years ago
9ebe5d7de9
AC_WPNav: lowering waypoint radius minimum to 5cm
6 years ago
6fbbabd333
AC_WPNav: add origin_and_destination_are_terrain_alt accessor
6 years ago
5ebaeaf5d2
AC_WPNav: add rangefinder_used accessor
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used by zigzag mode to determine if terrain altitudes can be used
6 years ago
6364e6d4c1
AC_WPNav: stop casting poscontrol's roll/pitch/yaw to int32_t
6 years ago
7b5fb719dc
AC_WPNav: Remove unused internals, and unneeded initilizers
6 years ago
cde2964f05
AC_WPNav: split set_speed_z into up and down
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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
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This hopefully clarifies that the default speed is returned and not the current speed
6 years ago
f5431ff661
AC_WPNav: improve wp_speed_cm variable comments
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
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
6 years ago
bffe3f6c21
AC_WPNav: add getter for crosstrack_error
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
9426ee6df6
AC_WPNav: remove loiter
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Loiter is in separate AC_Loiter class
7 years ago
5215588ba0
AC_WPNav: remove unused set_desired_alt
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also remove unused get_desired_alt
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
1c0678226c
AC_WPNav: new loiter including accel ff and braking
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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
efbd8eb386
AC_WPNav: remove unused definition
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This has been moved to AC_PosControl library
7 years ago
1a512609ac
AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead
7 years ago
da7aa36f2d
AC_WPNav: add set_wp_destination_NED to accept target in meters NED
8 years ago
222dd0c9be
AC_WPNav: correct comments
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all position vectors are offsets from the ekf origin (not from the ahrs home)
8 years ago
a1a5c9f239
AC_WPNav: sanity check wpnav-radius
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Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
8 years ago
b1bd3f0364
AC_WPNav: yaw points along leash
8 years ago
e2cf836734
AC_WPNav: add get_stopping_point
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returns 3D stopping point, simply re-uses pos_controller methods
8 years ago
8c6c2e46cc
AC_WPNav: protect against LOIT_SPEED divide-by-zero
8 years ago
96303c3092
AC_WPNav: Add accessor for origin, and make get_bearing_cd() public
8 years ago
17e1329068
AC_WPNav: converted to use AP_AHRS_View
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for use in quadplane tailsitters
8 years ago
713b08d830
AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s
8 years ago
a32068a973
AC_WPNav: remove ekf position reset handler
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This has been migrated to the position control library
8 years ago
6406e34016
AC_WPNav: remove unused _loiter_step member
8 years ago
1eca4e128d
AC_WPNav: method to retrieve current desired pilot accels
8 years ago
c808ee2f49
Global: To nullptr from NULL.
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RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
c87fa13e77
AC_WPNav: added WP_RFND_USE parameter
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allows disable of rangefinder use for terrain following
9 years ago
b5e80148c6
AC_WPNav: remove shift_loiter_target
9 years ago
86ceee4a53
AC_WPNav: fixed typo
9 years ago
8a6aa24525
AC_WPNav: use AC_Avoidance to stop at fence during Loiter
9 years ago
2bafc36ded
AC_WPNav: support rangefinder for terrain following
9 years ago
3033c53834
AC_WPNav: Fix typos
9 years ago
1c4b2be16a
AC_WPNav: simplify use of terrain to just current location
9 years ago
c5a3781507
AC_WPNav: accept terrain library reference
9 years ago
9fbfea951a
AC_WPNav: spline handles terrain altitudes
9 years ago
8b2c479d62
AC_WPNav: straight line waypoints accept terrain
9 years ago
Randy Mackay
Rishabh
Peter Barker
Guglielmo
Michael du Breuil
Pierre Kancir
chobits
murata
Leonard Hall
Dr.-Ing. Amilcar Do Carmo Lucas
squilter
Jacob Walser
Andrew Tridgell
Mathieu OTHACEHE
Jonathan Challinger
Daniel Ricketts
Ricardo de Almeida Gonzaga