9f63de9b59
AC_PosControl: set_speed_z accepts positive descent speeds
11 years ago
098f8169b0
AC_PosControl: add keep_xy_I_terms method
...
Stops horizontal PID's I terms from being reset when the controller is
next updated
11 years ago
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
11 years ago
09a35cf90f
AC_PosControl: bugfix for freezing I-term build-up
11 years ago
e565ee6d33
AC_PosControl: stop I term build-up when motors at max
11 years ago
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
...
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
11 years ago
7e376bc517
PosControl: update_pos_controller renamed to update_xy_controller
11 years ago
90e205c905
AC_PosControl: replace safe_sqrt with pythagorous2
11 years ago
dd45647626
AC_PosControl: update some comments re leash lengths
11 years ago
345115fddd
AC_PosControl: fixed leash length calc for descent speed
11 years ago
024855014f
AC_PosControl: update _pos_error if it is being limited
...
This fixes a bug that causes 10hz throttle noise.
11 years ago
9130c88f15
AC_PosControl: throttle rate to simple P controller
11 years ago
94fb9c4274
AC_PosControl: replace APM_PI with AC_P
11 years ago
8b8d6a8e01
AC_PosControl: use trig values from ahrs
11 years ago
551836c49d
AC_PosControl: make some methods const
11 years ago
26b257c8ba
AC_AttControl: alternative get_stopping_point_z
11 years ago
1b8791a142
AC_PosControl: remove debug
11 years ago
de34359808
AC_PosControl: recalculate leash when speed or accel modified
11 years ago
80ae3dca2e
AC_PosControl: remove debug
11 years ago
bbcf8cc84c
AC_PosControl: add horizontal pos control
11 years ago
3ce1c0a9d5
AC_PosControl: add get_alt_error method
11 years ago
8988b48ad8
AC_PosControl: add init take-off
11 years ago
dcac124105
AC_PosControl: add throttle controller
11 years ago
05bb943a69
AC_AttControl: first draft of PosControl class
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
bf5a50f738
WPNav: stopping point projection uses wp_leash
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
204f613467
WPNav: bug fix to reported distance to target
...
This value is for reporting purposes only
12 years ago
518eba0729
WPNav: bug fix to loiter accel calculation
...
Contribution from Leonard Hall
12 years ago
c4f17b3235
WPNav: rounding error fix in loiter
...
Contributed by Leonard Hall
12 years ago
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
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
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
89bbf5844f
Copter WPNav: remove unused variable
12 years ago
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
...
Also pass in althold gain from main code
12 years ago
a1926441da
Copter: use fast tan for accel to lean angle calcs
...
Committed on behalf of Leonard
12 years ago
d203f0295b
Copter: bug fix for vertical speed during missions
12 years ago
dbd6524f9f
Copter: WPNav consolidate acceleration #defines
12 years ago
e3dffb920b
Copter: initialise target vel in loiter
12 years ago
a474b97291
Copter: resolve compiler warning re unused vars
12 years ago
916f241fff
Copter: Leonard's improved Loiter
12 years ago
46d65150af
Copter: lengthen loiter stopping point
...
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
12 years ago
Randy Mackay
Ju1ien
Holger Steinhaus
jschall
Andrew Tridgell
Tobias