ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
11 years ago
46fba47c8e
AC_WPNav: slow target point's speed near destination
11 years ago
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
11 years ago
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
11 years ago
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
11 years ago
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
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Also pull Z-axis acceleration from position controller instead of using
#define
11 years ago
648787a6c8
AC_WPNav: rename some definitions
11 years ago
2167dd7d3e
AC_WPNav: update target speed immediately
11 years ago
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
11 years ago
72d2712c4e
AC_WPNav: integrate update_xy_controller name change
11 years ago
60f522a094
AC_WPNav: set_wp_destination to use current target
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Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
11 years ago
15da01cf3a
AC_WPNav: replace safe_sqrt with pythagorous2
11 years ago
b15d4379d8
AC_WPNav: use atan2f, make methods const
11 years ago
d27ca53a9d
AC_WPNav: spline sets origin vel to zero when no prev segment
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Issue caught by Michael Oborne
11 years ago
7dfde39e19
AC_WPNav: advance_spline to use dt
11 years ago
c0458b786a
AC_WPNav: check acceleration is non zero
11 years ago
f0f3688172
AC_WPNav: rounder corners for short spline segments
11 years ago
197683d539
WPNav: clean up spline comments
11 years ago
24eb195aa3
WPNav: add yaw control for straight line wp nav
11 years ago
b42b12f7be
AC_WPNav: add get_spline_yaw
11 years ago
e5e71ce371
WPNav: add spline support
11 years ago
98bdbb7fed
AC_WPNav: set loiter accel to 1/2 of speed
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Bug fix from Leonard.
Also fixed some formatting.
11 years ago
9e31f0b985
AC_WPNav: use PosControl accessor
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Saves 2bytes of RAM
11 years ago
d4e4620159
AC_WPNav: remove unused PID references
11 years ago
fc427967ae
AC_WPNav: set wp origin to horiz and vert stopping point
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Also bug fix to set pos_control's down speed as a negative number
11 years ago
4cd45e2edf
AC_WPNav: remove debug
11 years ago
1596d83d02
AC_WPNav: move leashes to AC_PosControl
11 years ago
0c8cbba644
AC_WPNav: remove xy pos controller
11 years ago
2984e492df
AC_WPNav: add reference to AC_PosControl
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Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
11 years ago
c9415a08f1
AC_WPNav: use ahrs trig values
11 years ago
5767aa47d9
AC_WPNav: reduce leash length for stopping
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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
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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
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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
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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
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Also removed unused _lean_angle_max variable
12 years ago
204f613467
WPNav: bug fix to reported distance to target
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This value is for reporting purposes only
12 years ago
518eba0729
WPNav: bug fix to loiter accel calculation
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Contribution from Leonard Hall
12 years ago
c4f17b3235
WPNav: rounding error fix in loiter
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Contributed by Leonard Hall
12 years ago
5d23d5aaa7
WPNav: reduce loiter speed used to correct pos error
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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
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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
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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
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Also pass in althold gain from main code
12 years ago
a1926441da
Copter: use fast tan for accel to lean angle calcs
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Committed on behalf of Leonard
12 years ago
d203f0295b
Copter: bug fix for vertical speed during missions
12 years ago
Randy Mackay
Ju1ien
Andrew Tridgell
Tobias