Randy Mackay
|
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 |
|
Randy Mackay
|
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
|
345924ddec
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WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
|
12 years ago |
|
Randy Mackay
|
5d23d5aaa7
|
WPNav: reduce loiter speed used to correct pos error
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
|
12 years ago |
|
Randy Mackay
|
649cbf6b68
|
WPNav: reduce default WP_ACCEL and LOITER_SPEED
|
12 years ago |
|
Randy Mackay
|
dde19c9585
|
WPNav: add acceleration parameter
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
|
12 years ago |
|
Randy Mackay
|
272f0e5032
|
Copter: reduce twitch when entering CIRCLE mode
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
|
12 years ago |
|
Randy Mackay
|
7a2afb7443
|
Copter Nav: add accessor for waypoint speed
|
12 years ago |
|
Randy Mackay
|
8c4a7ec094
|
Copter WPNav: Leonard's improved speed fix
Also pass in althold gain from main code
|
12 years ago |
|
Randy Mackay
|
d203f0295b
|
Copter: bug fix for vertical speed during missions
|
12 years ago |
|
Randy Mackay
|
dbd6524f9f
|
Copter: WPNav consolidate acceleration #defines
|
12 years ago |
|
Randy Mackay
|
e3dffb920b
|
Copter: initialise target vel in loiter
|
12 years ago |
|
Randy Mackay
|
916f241fff
|
Copter: Leonard's improved Loiter
|
12 years ago |
|
Randy Mackay
|
cb795ea536
|
WPNav: divide by zero checks
|
12 years ago |
|
Randy Mackay
|
61288fcb90
|
WPNav: make get_stopping_point method public
|
12 years ago |
|
Randy Mackay
|
ed5ddfd9db
|
WPNav: initialise desired roll, pitch
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
|
12 years ago |
|
Randy Mackay
|
9f735c8d03
|
WPNav: add fast waypoints flag
Waypoint is considered "reached" when the intermediate point reaches the
destination
|
12 years ago |
|
Randy Mackay
|
4704b729c2
|
WPNav: reduce max acceleration to 2.5m/s
Also includes bug fix to ramp up of speed of intermediate point
|
12 years ago |
|
Randy Mackay
|
328d900647
|
WPNav: flexible loiter speed
Also includes bug fix to allow speeds > 10m/s during missions
|
12 years ago |
|
Randy Mackay
|
ad01aeee44
|
Copter: increase max loiter overshoot to 8.12m
|
12 years ago |
|
Randy Mackay
|
c139134192
|
Copter: increase max loiter speed to 7.5m/s
|
12 years ago |
|
Randy Mackay
|
6c081c3def
|
AC_WPNav: slow acceleration of intermediate point
|
12 years ago |
Andrew Tridgell
|
ad40ba57be
|
AC_WPNav: optimise to reduce memory copies
save a few cycles
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
|
12 years ago |
|
Randy Mackay
|
2fc25da4c3
|
Copter: Leonard's fix for get_loiter_accel_to_lean_angle
|
12 years ago |
|
Randy Mackay
|
1c046fa49f
|
AC_WPNav: increase max descent speed to 1.5m/s
|
12 years ago |
|
Randy Mackay
|
764853bd56
|
AC_WPNav: add climb and descent params, dynamic leash length
|
12 years ago |
|
Randy Mackay
|
effd5b0da7
|
AC_WPNav: improved comments
Made SPEEDZ a parameter although it's not yet used
|
12 years ago |
|
Randy Mackay
|
8046fe2cf3
|
AC_WPNav: increase max accel to 8m/s/s
|
12 years ago |
|
Randy Mackay
|
8fe3e689f4
|
Copter: add WPNAV log message
|
12 years ago |
|
Randy Mackay
|
0eab3e87b2
|
AC_WPNav: use prev wp as origin for next wp
|
12 years ago |
|
Randy Mackay
|
0351c2ae33
|
AC_WPNav: allow setting of horizontal velocity
Also added accessor function for waypoint radius parameter
|
12 years ago |
|
Randy Mackay
|
0ac3762bdd
|
AC_WPNav: fix compiler warning
|
12 years ago |
|
Randy Mackay
|
9d7d174995
|
AC_WPNAV: check distance to waypoint within library
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
|
12 years ago |
|
Randy Mackay
|
35001619f0
|
AC_WPNav: stop track_desired from moving backwards
|
12 years ago |
|
Randy Mackay
|
c6b68c7843
|
AC_WPNav: Leonard's 3d leash calculator
|
12 years ago |
|
Randy Mackay
|
74e1c2e660
|
AC_WPNav: advance track fixes
|
12 years ago |
|
Randy Mackay
|
bc87118062
|
AC_WPNav: add get_target_alt method
|
12 years ago |
|
Randy Mackay
|
6dbcbdcb43
|
AC_WPNav: limit max loiter position error
move interpretation of pilot input to wpnav lib
|
12 years ago |
|
Randy Mackay
|
31838b2865
|
AC_WPNAV: change loiter controllers to use floats
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
|
12 years ago |
|
Randy Mackay
|
0ccdce1b22
|
AC_WPNav: Leonard's ff loiter and 3d wp nav
|
12 years ago |
|
Randy Mackay
|
926c404994
|
AC_WPNav: Leonard's loiter target smoothing
|
12 years ago |
|
Randy Mackay
|
f82ce449d7
|
AC_WPNav: add angle limits and set from AC's throttle controller
|
12 years ago |
|
Randy Mackay
|
afd2f82768
|
AC_WPNav: bug fix for track covered being 2D
Replaced abs and fabs with fabsf
Added get_destination method
|
12 years ago |
|
Randy Mackay
|
8ec7fd1c9c
|
AC_WPNav: add set_loiter_target to use velocity
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
|
12 years ago |
|
Randy Mackay
|
3bfcc3b8d0
|
AC_WPNav: replace get_target_alt with get_destination_alt
|
12 years ago |
|
Randy Mackay
|
c40080e76a
|
AC_WPNav: added set_target_alt
|
12 years ago |
|
Randy Mackay
|
60060d8184
|
AC_WPNav: add get_target_alt
Required because waypoint controller will be modified to control
altitude
|
12 years ago |
|
Randy Mackay
|
0d70ba1030
|
AC_WPNav: bug fix to dt calculation
|
12 years ago |
|
Randy Mackay
|
39bc3800c9
|
AC_WPNav: add distance and bearing to target methods
|
12 years ago |
|
Randy Mackay
|
b92c4097d2
|
AC_WPNav: first implementation
|
12 years ago |
