zr-v4

Andrew Tridgell 078eef91cb AC_WPNav: prevent I term buildup during landing this prevents I term buildup in the XY velocity controller during landing. This to account for the EKF giving a non-zero horizontal velocity when we have touched down. The I term buildup in the XY velocity controller can lead to the attitude error going above the level for disabling the relax function as the throttle mix is changed. That results in large motor outputs which can tip over the vehicle after touchdown. Thanks to Leonard for the suggestion		6 years ago
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AC_Circle.cpp	AC_WPNav: allow position control to get ekf navigation scalars directly	7 years ago
AC_Circle.h	AC_Circle: add get distance and bearing to target	7 years ago
AC_Loiter.cpp	AC_WPNav: prevent I term buildup during landing	6 years ago
AC_Loiter.h	AC_WPNav: allow position control to get ekf navigation scalars directly	7 years ago
AC_WPNav.cpp	AC_WPNav: split set_speed_z into up and down	6 years ago
AC_WPNav.h	AC_WPNav: split set_speed_z into up and down	6 years ago