Peter Barker
2c5373e278
AC_WPNav: add floating point constant designators
2019-04-05 23:04:17 -07:00
Michael du Breuil
7b5fb719dc
AC_WPNav: Remove unused internals, and unneeded initilizers
2019-03-25 08:56:31 +11:00
Peter Barker
d9ddb8f34d
AC_WPNav: use enum class for AltFrame enumeration
2019-03-19 10:31:18 +11:00
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
2019-02-26 10:14:42 +11:00
Peter Barker
5bf511fc6d
AC_WPNav: remove keywords.txt
2019-02-17 00:29:38 -08:00
Randy Mackay
cde2964f05
AC_WPNav: split set_speed_z into up and down
...
Also rely on AC_PosControl to store current target up and down speeds so wpnav's defaults are not affected by do-change-speed requests
2019-01-31 19:34:32 +09:00
Randy Mackay
b0811c86e7
AC_WPNav: rename get_speed_xy to get_default_speed_xy
...
This hopefully clarifies that the default speed is returned and not the current speed
2019-01-31 19:34:32 +09:00
Randy Mackay
e93dee89b7
AC_WPNav: rely on AC_PosControl to hold current target speed
2019-01-31 19:34:32 +09:00
Pierre Kancir
f5431ff661
AC_WPNav: improve wp_speed_cm variable comments
2019-01-31 19:34:32 +09:00
Randy Mackay
8ac09c0483
AC_WPNav: use dt from pos controller
2019-01-30 15:58:34 +09:00
Peter Barker
0215aff8f4
AC_WPNav: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
Peter Barker
f0ca4de313
AC_WPNav: add reached_wp_destination_xy
2018-10-30 17:50:46 +09:00
chobits
7fa7c8f403
AC_WPNav: add set_speed_z
2018-10-13 13:16:26 +09:00
mirkix
0c9fd0ae93
AC_WPNav: fix typo
2018-10-12 00:53:42 +01:00
Peter Barker
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
2018-10-09 10:47:38 +11:00
Randy Mackay
f0181be9c9
AC_Loiter: init_target only inits pos controller if inactive
...
this reduces a twitch found during the development of zig-zag mode
2018-10-05 10:05:45 +09:00
Michael du Breuil
65641c3cb7
AC_Circle: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
Michael du Breuil
d3bee76f0b
AC_WPNav: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
Leonard Hall
31d93f5914
AC_Loiter: reduce twitch on init
2018-09-04 13:37:28 +09:00
liang.tang
8664ed006a
AC_Circle: use stopping point to get closest point on circle
2018-07-26 12:12:07 +09:00
liang.tang
c03e50660c
AC_WPNav: check validity of kP
2018-07-10 18:07:50 +09:00
Pierre Kancir
bffe3f6c21
AC_WPNav: add getter for crosstrack_error
2018-06-26 08:42:14 +09:00
Peter Barker
4c8c85f75b
AC_WPNav: remove pointless initialisations
...
new clears this memory
2018-06-06 08:33:56 +09:00
Peter Barker
fa0b315374
AC_WPNav: use rangefinder for terrain offset even if terrain not available
2018-06-06 08:33:56 +09:00
Peter Barker
2c962afe98
AC_WPNav: add get_wp_destination to get a Location_Class for the wp
2018-05-18 20:26:37 +10:00
murata
494735db2e
AC_WPNav: Change the variable name according to the unit.
2018-05-14 16:38:47 +09:00
Randy Mackay
f6cf52a748
AC_Loiter: move defines to cpp
2018-04-04 10:45:10 +09:00
Randy Mackay
757a35f3ba
AC_Loiter: consolidate sanity checks
2018-04-04 10:45:10 +09:00
Randy Mackay
9de73a994f
AC_Circle: add get distance and bearing to target
2018-04-04 10:45:10 +09:00
Randy Mackay
9426ee6df6
AC_WPNav: remove loiter
...
Loiter is in separate AC_Loiter class
2018-04-04 10:45:10 +09:00
Randy Mackay
0ba22a1feb
AC_WPNav: remove brake dependency on loiter
2018-04-04 10:45:10 +09:00
Randy Mackay
cc5ad7c004
AC_Loiter: loiter extracted from AC_WPNav
2018-04-04 10:45:10 +09:00
Randy Mackay
032b4373f6
AC_WPNav: removed brake's unused dt calc
2018-03-31 13:42:59 +09:00
Randy Mackay
5215588ba0
AC_WPNav: remove unused set_desired_alt
...
also remove unused get_desired_alt
2018-03-28 15:08:42 +09:00
Randy Mackay
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
2018-03-16 13:50:57 +09:00
Randy Mackay
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
2018-03-16 13:50:57 +09:00
Leonard Hall
a356cfa529
AC_Circle: init resets desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
2018-03-16 13:50:57 +09:00
Leonard Hall
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
2018-03-16 13:50:57 +09:00
Leonard Hall
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
2018-03-16 13:50:57 +09:00
Leonard Hall
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
2018-03-16 13:50:57 +09:00
Randy Mackay
f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
2018-02-02 20:55:20 +09:00
Randy Mackay
efbd8eb386
AC_WPNav: remove unused definition
...
This has been moved to AC_PosControl library
2018-01-23 12:00:43 +09:00
Randy Mackay
368245017a
AC_WPNav: access pos-controller's horizontal p object
2018-01-23 12:00:43 +09:00
Randy Mackay
094620bc8a
AC_WPNav: pass dt to avoidance
2018-01-16 12:13:48 +09:00
Randy Mackay
4d0c24f4eb
AC_WPNav: RFND_USE param desription update
2018-01-12 16:50:00 +09:00
