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
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.
...
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
3ae4c222e0
AC_WPNav: replace header guard with pragma once
9 years ago
adee13d729
AC_WPNav: handle ekf position reset in Loiter and Brake
9 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
15fc689085
AC_WPNav: remove unused get_wp_radius
10 years ago
ee2c388bb0
AC_WPNav: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
a81d756ce1
AC_WPNav: remove unused definitions
10 years ago
0077cac1b7
AC_WPNav: rename stop to brake
10 years ago
61c851885f
AC_WPNav: remove unused set_spline_dest_and_vel
10 years ago
e789984c98
AC_WPNav: fix for HAL_SITL rename
10 years ago
2b29060a4e
AC_WPNav: remove unused set_loiter_velocity
10 years ago
35874292a0
AC_WPNav: move stop below all loiter methods
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No functional change
10 years ago
4a7fe83b0f
AC_WPNav: Create Stop Mode functions
10 years ago
39213584da
AC_WPNav: minor comment and formatting changes
10 years ago
1da410a6c6
AC_WPNav: allow user to tune loiter
10 years ago
6eab698e85
AC_WPNav: remove various timing hacks
10 years ago
11fb51ceba
AC_WPNav: Add nav velocity gain scaler to interfaces
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Allows gains to be adjusted to compensate for optical flow noise
10 years ago
5fa0c59310
AC_WPNav: Add EKF ground speed limit to loiter speed control
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This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
10 years ago
2cc65dffe0
AC_WPNav: add set_spline_dest_and_vel function
10 years ago
369839c7ca
AC_WPNav: Use target yaw instead of current yaw for close waypoints
10 years ago
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
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This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
11 years ago
765420ee04
AC_WPNav: add loiter_soften_for_landing method
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This resets the position target to the current location.
11 years ago
2b64c511ed
AC_WPNav: update yaw only when track is at least 2m
11 years ago
a2f54fdf2c
AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot
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First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint". Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
11 years ago
efd6d6dc70
AC_WPNav: spline div by zero fix
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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
597d5227f5
AC_WPNav: rename set_loiter_target to init_loiter_target
11 years ago
5d20594fa4
AC_WPNav: bug fix for loiter and waypoint update rate
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Thanks to EmileC for spotting this
11 years ago
9ab9eaec25
AC_WPNav: Loiter jerk default to 10m/s/s/s
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Pair programmed with Randy
11 years ago
Randy Mackay
Jacob Walser
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
Peter Barker
murata
Mathieu OTHACEHE
Jonathan Challinger
Daniel Ricketts
Ricardo de Almeida Gonzaga
Lucas De Marchi
Gustavo Jose de Sousa
Robert Lefebvre
priseborough
lthall
lthall