31d93f5914
AC_Loiter: reduce twitch on init
7 years ago
8664ed006a
AC_Circle: use stopping point to get closest point on circle
7 years ago
c03e50660c
AC_WPNav: check validity of kP
7 years ago
bffe3f6c21
AC_WPNav: add getter for crosstrack_error
7 years ago
4c8c85f75b
AC_WPNav: remove pointless initialisations
...
new clears this memory
7 years ago
fa0b315374
AC_WPNav: use rangefinder for terrain offset even if terrain not available
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
f6cf52a748
AC_Loiter: move defines to cpp
7 years ago
757a35f3ba
AC_Loiter: consolidate sanity checks
7 years ago
9de73a994f
AC_Circle: add get distance and bearing to target
7 years ago
9426ee6df6
AC_WPNav: remove loiter
...
Loiter is in separate AC_Loiter class
7 years ago
0ba22a1feb
AC_WPNav: remove brake dependency on loiter
7 years ago
cc5ad7c004
AC_Loiter: loiter extracted from AC_WPNav
7 years ago
032b4373f6
AC_WPNav: removed brake's unused dt calc
7 years ago
5215588ba0
AC_WPNav: remove unused set_desired_alt
...
also remove unused get_desired_alt
7 years ago
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
7 years ago
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
7 years ago
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
7 years ago
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
7 years ago
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
7 years ago
a356cfa529
AC_Circle: init resets desired velocity_xy
7 years ago
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
7 years ago
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
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
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
7 years ago
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
7 years ago
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
7 years ago
f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
7 years ago
efbd8eb386
AC_WPNav: remove unused definition
...
This has been moved to AC_PosControl library
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
...
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
222dd0c9be
AC_WPNav: correct comments
...
all position vectors are offsets from the ekf origin (not from the ahrs home)
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
...
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
...
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
...
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
...
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
96303c3092
AC_WPNav: Add accessor for origin, and make get_bearing_cd() public
8 years ago
Leonard Hall
liang.tang
Pierre Kancir
Peter Barker
murata
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas
squilter
Jacob Walser