f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
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
...
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
da7aa36f2d
AC_WPNav: add set_wp_destination_NED to accept target in meters NED
8 years ago
bd2ba1565c
AC_WPNav: minor format fix
8 years ago
079d2ff3be
AC_WPNav: correct min limit
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
bffc5daeb0
AC_WPNav: unset yaw when setting new origin and destination
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This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
8 years ago
b1bd3f0364
AC_WPNav: yaw points along leash
8 years ago
62c123bb08
AC_WPNav: correct straight line waypoint leash calculation
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The former calculation was not correctly using the 3D leash
8 years ago
ba011eef78
AC_WPNav: init z-axis feed-foward to correct stopping point calcs
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
e96332d346
AC_WPNav: reduce spline to straight twitch
8 years ago
d4c4daca16
AC_WPNav: speed-up and down parameter min to 10cm/s
8 years ago
8c6c2e46cc
AC_WPNav: protect against LOIT_SPEED divide-by-zero
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
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
2dc111ff39
Copter: reduce WPNAV_LOIT_MINA parameter description range
9 years ago
b5e80148c6
AC_WPNav: remove shift_loiter_target
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
684ac12dd6
AC_WPNav: fix compile when using AP_TERRAIN_AVAILABLE 0
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
1c4b2be16a
AC_WPNav: simplify use of terrain to just current location
9 years ago
e23c869c5d
AC_WPNav: fix reporting of set_wp_destination failure
9 years ago
9fbfea951a
AC_WPNav: spline handles terrain altitudes
9 years ago
8b2c479d62
AC_WPNav: straight line waypoints accept terrain
9 years ago
4908350ccb
AC_WPNav: limit WPNAV_ACCEL to that implied by ANGLE_MAX
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this prevents an overshoot and backtracking in the navigation code
when WPNAV_ACCEL is unachievable due to an angle limit
9 years ago
3c4d226b64
AC_WPNav: call renamed functions in AC_AttitudeControl
9 years ago
2591261af6
Global: rename min and max macros to uppercase
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The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
9 years ago
e867a06383
AC_WPNav: use millis/micros/panic functions
9 years ago
f9c7f15052
AC_WPNav: WPNAV_LOIT_SPEED WPNAV_LOIT_MAXA take effect immediately
9 years ago
831d8acca5
Remove use of PROGMEM
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Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
9 years ago
adee13d729
AC_WPNav: handle ekf position reset in Loiter and Brake
9 years ago
040ec481f4
AC_WPNav: loiter uses pos_control.shift_pos_xy_target
9 years ago
c52f16b86f
AC_WPNav: increase param description max for LOIT_JERK
9 years ago
49c4a133d7
AC_WPNav: set jerk separately for wpnav and loiter
9 years ago
853f8bfaf4
AC_WPNav: stop gradually in loiter
9 years ago
5ab2a19173
AC_WPNav: loiter limits lean angle for alt loss
10 years ago
7706102d1e
AC_WPNav: add shift_loiter_target method
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Shift the loiter target and freeze the feedforward if necessary
10 years ago
Randy Mackay
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
Leonard Hall
squilter
Andrew Tridgell
murata
Mathieu OTHACEHE
Jonathan Challinger
Daniel Ricketts
Tom Pittenger
dgrat
Lucas De Marchi
Caio Marcelo de Oliveira Filho