0077cac1b7
AC_WPNav: rename stop to brake
10 years ago
61c851885f
AC_WPNav: remove unused set_spline_dest_and_vel
10 years ago
7056484ef0
Copter: fix spline overshoot
10 years ago
c08b62f9e4
AC_WPNAV: revert AP_Math class change
10 years ago
7fd285f483
AC_WPNav: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
10 years ago
1b84bbc3e7
AC_WPNav: Compiler warnings: add in the appropriate whitrespace
10 years ago
913d00f525
AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float)
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
33431acaa4
AC_WPNav: protect against div-by-zero related to gnd_speed_limit
10 years ago
7481217445
AC_WPNav: Improve application of EKF optical flow speed limit
10 years ago
35874292a0
AC_WPNav: move stop below all loiter methods
...
No functional change
10 years ago
4a7fe83b0f
AC_WPNav: Create Stop Mode functions
10 years ago
b9865c5f3e
AC_Circle: fix compile warnings re float constants
10 years ago
39213584da
AC_WPNav: minor comment and formatting changes
10 years ago
fd55068620
AC_WPNav: fix double-twitch on stop in loiter
10 years ago
1da410a6c6
AC_WPNav: allow user to tune loiter
10 years ago
c88ff00f5f
AC_WPNav: remove example sketch
...
this only tested compiling anyway
10 years ago
fc4442bf61
AC_WPNav: rename xy_mode
10 years ago
626521c366
AC_WPNav: update usage of update_xy_controller
10 years ago
baa3e802ee
AC_WPNav: clean up atan2
10 years ago
d0d1254f03
AC_WPNav: fix example sketch
10 years ago
25f69f05eb
AC_WPNav: updates for new AP_Baro API
10 years ago
6eab698e85
AC_WPNav: remove various timing hacks
10 years ago
5438d38df5
AC_WPNav: provide reset_I to init_xy_controller
10 years ago
4a1ba9b186
AC_WPNav: minor const fix
10 years ago
11fb51ceba
AC_WPNav: Add nav velocity gain scaler to interfaces
...
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
...
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
71586d40e3
AC_WPNav: minor fix to comments
10 years ago
369839c7ca
AC_WPNav: Use target yaw instead of current yaw for close waypoints
10 years ago
33c7432e97
AC_WPNav: fixed example build
10 years ago
e80328d3a5
AC_WPNav: bug fix sanity check of set_speed_xy
...
This corrects a bug that allowed the waypoint speed to be set to zero
10 years ago
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
...
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
...
This resets the position target to the current location.
11 years ago
ad37fc0408
AC_WPNav: WP_SPEED_DN parameter range to 0~500
...
Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
11 years ago
1c6606cc58
AC_WPNav: resolve twitch when passing spline waypoints
...
The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
11 years ago
3fd2b3b4a1
AC_WPNav: init members to resolve compiler warnings
11 years ago
759a55d633
AC_WPNav: fixed example build
11 years ago
053a45e9cf
AC_WPNav: fix example sketch
11 years ago
7f7a0db2d3
AC_WPNav: fixed example build
11 years ago
52d5109a6c
AC_Circle: initialise members to reduce compiler warnings
11 years ago
2b64c511ed
AC_WPNav: update yaw only when track is at least 2m
11 years ago
c9661cfb09
AC_WPNav: integrate set_desired_velocity_xy function name change
11 years ago
a2f54fdf2c
AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot
...
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
ce85d1f6b2
AC_WPNav: use curr pos target as spline origin
...
We only use the current target position as origin if the waypoint
controller is active (i..e has been used in the past 1 second). This is
consistent with how we initialise straight line waypoints
11 years ago
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
11 years ago
915dad2da4
AC_Circle: use fast_atan2 to calc bearing from center
...
This does not save much time because it's only called at initialisation
11 years ago
f23e94707c
AC_WPNav: use fast_atan2 for bearing calcs
11 years ago
efd6d6dc70
AC_WPNav: spline div by zero fix
...
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
Randy Mackay
Andrew Tridgell
Tom Pittenger
Jonathan Challinger
Paul Riseborough
Robert Lefebvre
Clay McClure
Andrew Tridgell
lthall