efd6d6dc70
AC_WPNav: spline div by zero fix
...
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
11 years ago
0912bec8f5
Spline div zero and leash limit fix
11 years ago
cde7d31dad
AC_WPNav: fix divide by zero when origin and dest are same location
11 years ago
597d5227f5
AC_WPNav: rename set_loiter_target to init_loiter_target
11 years ago
e7b3c00767
AC_WPNav: set_loiter_target uses set_xy_target
...
Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
11 years ago
aed5787c1b
AC_WPNav: bug fix for loiter init in Hybrid
...
AC_PosControl::init_xy_controller() has been added to PosControl and is
called by init_loiter_target.
Hybrid is currently using set_loiter_target function to init the loiter
controller. So we have to call init_xy_controller() by set_loiter_target
function.
What happens otherwise?
In AC_PosControl::update_xy_controller, we update "now" with
now = hal.scheduler->millis();
and, as _last_update_xy_ms has not been updated previously by
init_xy_controller(), we just call init_xy_controller().
So, _dt_xy will be negative and used anyways in all the functions and
PID called by update_xy_controller.
That will avoid at least _accel_target.x/y to be set to 0 but I'm not
sure for the high values, probably an I_term that is not reset and
reached very high value.
Or maybe a cast error somewhere... no clue at all
11 years ago
091ff91a70
WPNav: add wp_and_spline_init to set speeds an init pos controller
11 years ago
b38c484874
AC_WPNav: add LOIT_JERK parameter
...
Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero
Pair programmed with Randy
11 years ago
fd9f8f571f
AC_WPNav: replace inav, ahrs pointers with references
11 years ago
7dd366d84e
AC_WPNav: init_loiter sets speed, accel before calcing stopping distance
...
The stopping distance depends upon the speed and acceleration so these
must be updated first
11 years ago
0103ae2eb0
AC_WPNav: add WPNAV_ACCEL_Z
...
Allows configurable z-axis acceleration during missions
11 years ago
510c9920a6
AC_WPNav: rename get_horizontal_velocity to get_speed_xy
...
This new method name is consistent with the equivalent in the
AC_PosControl class
11 years ago
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
11 years ago
46fba47c8e
AC_WPNav: slow target point's speed near destination
11 years ago
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
11 years ago
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
11 years ago
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
11 years ago
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
11 years ago
648787a6c8
AC_WPNav: rename some definitions
11 years ago
2167dd7d3e
AC_WPNav: update target speed immediately
11 years ago
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
11 years ago
72d2712c4e
AC_WPNav: integrate update_xy_controller name change
11 years ago
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
11 years ago
15da01cf3a
AC_WPNav: replace safe_sqrt with pythagorous2
11 years ago
b15d4379d8
AC_WPNav: use atan2f, make methods const
11 years ago
d27ca53a9d
AC_WPNav: spline sets origin vel to zero when no prev segment
...
Issue caught by Michael Oborne
11 years ago
7dfde39e19
AC_WPNav: advance_spline to use dt
11 years ago
c0458b786a
AC_WPNav: check acceleration is non zero
11 years ago
f0f3688172
AC_WPNav: rounder corners for short spline segments
11 years ago
197683d539
WPNav: clean up spline comments
11 years ago
24eb195aa3
WPNav: add yaw control for straight line wp nav
11 years ago
b42b12f7be
AC_WPNav: add get_spline_yaw
11 years ago
e5e71ce371
WPNav: add spline support
11 years ago
98bdbb7fed
AC_WPNav: set loiter accel to 1/2 of speed
...
Bug fix from Leonard.
Also fixed some formatting.
11 years ago
9e31f0b985
AC_WPNav: use PosControl accessor
...
Saves 2bytes of RAM
11 years ago
d4e4620159
AC_WPNav: remove unused PID references
11 years ago
fc427967ae
AC_WPNav: set wp origin to horiz and vert stopping point
...
Also bug fix to set pos_control's down speed as a negative number
11 years ago
4cd45e2edf
AC_WPNav: remove debug
11 years ago
1596d83d02
AC_WPNav: move leashes to AC_PosControl
11 years ago
0c8cbba644
AC_WPNav: remove xy pos controller
11 years ago
2984e492df
AC_WPNav: add reference to AC_PosControl
...
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
11 years ago
c9415a08f1
AC_WPNav: use ahrs trig values
11 years ago
5767aa47d9
AC_WPNav: reduce leash length for stopping
...
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x. This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
11 years ago
952afd296e
Copter: initialise waypoint leash length
...
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
11 years ago
30fffa5854
AC_WPNav: fixed some build warnings
11 years ago
c3309d909c
AC_WPNav: make more member pointers const
11 years ago
bb5cf4a311
AC_WPNav: make member pointer to AP_InertialNav object const since it's
...
never modified
11 years ago
1ecb583dd9
AC_WPNav: replace unnecessary objects with const refs
11 years ago
45aeb1a921
Copter: split up loiter into 4 steps
...
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
12 years ago
6969ab573d
Copter: configurable max lean angle
...
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
12 years ago
Randy Mackay
lthall
Ju1ien
lthall
Andrew Tridgell
Tobias