Randy Mackay
b15d4379d8
AC_WPNav: use atan2f, make methods const
2014-03-30 23:09:51 +09:00
Randy Mackay
d27ca53a9d
AC_WPNav: spline sets origin vel to zero when no prev segment
...
Issue caught by Michael Oborne
2014-03-30 15:19:18 +09:00
Randy Mackay
7dfde39e19
AC_WPNav: advance_spline to use dt
2014-03-30 15:02:07 +09:00
Randy Mackay
c0458b786a
AC_WPNav: check acceleration is non zero
2014-03-30 11:52:44 +09:00
Randy Mackay
f0f3688172
AC_WPNav: rounder corners for short spline segments
2014-03-30 11:52:41 +09:00
Randy Mackay
197683d539
WPNav: clean up spline comments
2014-03-29 17:57:47 +09:00
Randy Mackay
24eb195aa3
WPNav: add yaw control for straight line wp nav
2014-03-28 09:23:13 +09:00
Randy Mackay
b42b12f7be
AC_WPNav: add get_spline_yaw
2014-03-28 09:23:07 +09:00
Randy Mackay
e5e71ce371
WPNav: add spline support
2014-03-28 09:22:53 +09:00
Randy Mackay
98bdbb7fed
AC_WPNav: set loiter accel to 1/2 of speed
...
Bug fix from Leonard.
Also fixed some formatting.
2014-02-20 21:37:45 +09:00
Randy Mackay
9e31f0b985
AC_WPNav: use PosControl accessor
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Saves 2bytes of RAM
2014-02-15 05:27:50 +11:00
Randy Mackay
d4e4620159
AC_WPNav: remove unused PID references
2014-02-15 05:27:39 +11:00
Randy Mackay
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
2014-02-15 05:27:39 +11:00
Randy Mackay
4cd45e2edf
AC_WPNav: remove debug
2014-02-15 05:27:38 +11:00
Randy Mackay
1596d83d02
AC_WPNav: move leashes to AC_PosControl
2014-02-15 05:27:37 +11:00
Randy Mackay
0c8cbba644
AC_WPNav: remove xy pos controller
2014-02-15 05:27:36 +11:00
Randy Mackay
2984e492df
AC_WPNav: add reference to AC_PosControl
...
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
2014-02-15 05:27:35 +11:00
Randy Mackay
c9415a08f1
AC_WPNav: use ahrs trig values
2014-02-08 18:16:47 +09:00
Randy Mackay
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.
2013-12-13 22:12:30 +09:00
Randy Mackay
952afd296e
Copter: initialise waypoint leash length
...
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
2013-12-12 16:23:37 +09:00
Andrew Tridgell
30fffa5854
AC_WPNav: fixed some build warnings
2013-12-11 10:21:41 +11:00
Tobias
c3309d909c
AC_WPNav: make more member pointers const
2013-10-27 13:41:29 +09:00
Tobias
bb5cf4a311
AC_WPNav: make member pointer to AP_InertialNav object const since it's
...
never modified
2013-10-27 13:41:23 +09:00
Tobias
1ecb583dd9
AC_WPNav: replace unnecessary objects with const refs
2013-10-27 13:40:53 +09:00
Randy Mackay
45aeb1a921
Copter: split up loiter into 4 steps
...
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
2013-08-28 11:33:10 +09:00
Randy Mackay
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
2013-08-11 12:53:22 +09:00
Randy Mackay
bf5a50f738
WPNav: stopping point projection uses wp_leash
2013-07-11 11:39:44 +09:00
Randy Mackay
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
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Also removed unused _lean_angle_max variable
2013-07-10 20:00:32 +09:00
Randy Mackay
204f613467
WPNav: bug fix to reported distance to target
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This value is for reporting purposes only
2013-07-10 18:21:08 +09:00
Randy Mackay
518eba0729
WPNav: bug fix to loiter accel calculation
...
Contribution from Leonard Hall
2013-07-10 17:52:12 +09:00
Randy Mackay
c4f17b3235
WPNav: rounding error fix in loiter
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Contributed by Leonard Hall
2013-07-10 16:24:37 +09:00
Randy Mackay
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
2013-07-10 15:52:18 +09:00
Randy Mackay
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
2013-06-16 11:40:51 +09:00
Randy Mackay
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
2013-06-15 18:18:30 +09:00
Randy Mackay
89bbf5844f
Copter WPNav: remove unused variable
2013-05-31 21:41:32 +09:00
Randy Mackay
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
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Also pass in althold gain from main code
2013-05-31 21:03:27 +09:00
Randy Mackay
a1926441da
Copter: use fast tan for accel to lean angle calcs
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Committed on behalf of Leonard
2013-05-30 18:25:04 +09:00
Randy Mackay
d203f0295b
Copter: bug fix for vertical speed during missions
2013-05-30 11:52:04 +09:00
Randy Mackay
dbd6524f9f
Copter: WPNav consolidate acceleration #defines
2013-05-27 10:36:24 +09:00
Randy Mackay
e3dffb920b
Copter: initialise target vel in loiter
2013-05-25 14:07:04 +09:00
Randy Mackay
a474b97291
Copter: resolve compiler warning re unused vars
2013-05-25 13:32:15 +09:00
Randy Mackay
916f241fff
Copter: Leonard's improved Loiter
2013-05-24 23:45:03 +09:00
Randy Mackay
46d65150af
Copter: lengthen loiter stopping point
...
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
2013-05-22 17:35:20 +09:00
Randy Mackay
400c1bd7b7
Copter: smooth waypoint transitions
...
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
2013-05-22 14:17:26 +09:00
Randy Mackay
cb795ea536
WPNav: divide by zero checks
2013-05-15 11:51:26 +09:00
Randy Mackay
55235630b6
Copter: bug fix for slow loiter repositioning
2013-05-12 14:51:02 +09:00
Randy Mackay
61288fcb90
WPNav: make get_stopping_point method public
2013-05-11 16:05:42 +09:00
Randy Mackay
ed5ddfd9db
WPNav: initialise desired roll, pitch
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bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
2013-05-09 18:32:02 +09:00
Randy Mackay
9f735c8d03
WPNav: add fast waypoints flag
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Waypoint is considered "reached" when the intermediate point reaches the
destination
2013-05-09 00:18:02 +09:00
Randy Mackay
4704b729c2
WPNav: reduce max acceleration to 2.5m/s
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Also includes bug fix to ramp up of speed of intermediate point
2013-05-08 23:20:29 +09:00
