Randy Mackay
0ac3762bdd
AC_WPNav: fix compiler warning
2013-04-14 10:39:26 +09:00
Randy Mackay
9d7d174995
AC_WPNAV: check distance to waypoint within library
...
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
2013-04-14 10:39:21 +09:00
Randy Mackay
35001619f0
AC_WPNav: stop track_desired from moving backwards
2013-04-14 10:39:19 +09:00
Randy Mackay
c6b68c7843
AC_WPNav: Leonard's 3d leash calculator
2013-04-14 10:39:08 +09:00
Randy Mackay
74e1c2e660
AC_WPNav: advance track fixes
2013-04-14 10:39:05 +09:00
Randy Mackay
bc87118062
AC_WPNav: add get_target_alt method
2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43
AC_WPNav: limit max loiter position error
...
move interpretation of pilot input to wpnav lib
2013-04-14 10:38:58 +09:00
Randy Mackay
31838b2865
AC_WPNAV: change loiter controllers to use floats
...
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
2013-04-14 10:38:56 +09:00
Randy Mackay
0ccdce1b22
AC_WPNav: Leonard's ff loiter and 3d wp nav
2013-04-14 10:38:43 +09:00
Randy Mackay
926c404994
AC_WPNav: Leonard's loiter target smoothing
2013-04-14 10:38:39 +09:00
Randy Mackay
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
2013-04-14 10:38:34 +09:00
Randy Mackay
afd2f82768
AC_WPNav: bug fix for track covered being 2D
...
Replaced abs and fabs with fabsf
Added get_destination method
2013-04-14 10:38:32 +09:00
Randy Mackay
8ec7fd1c9c
AC_WPNav: add set_loiter_target to use velocity
...
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
2013-04-14 10:38:25 +09:00
Randy Mackay
fc972e2d42
InertialNav: add get_velocity method
2013-04-14 10:38:23 +09:00
Randy Mackay
3bfcc3b8d0
AC_WPNav: replace get_target_alt with get_destination_alt
2013-04-14 10:38:13 +09:00
Randy Mackay
c40080e76a
AC_WPNav: added set_target_alt
2013-04-14 10:38:04 +09:00
Randy Mackay
60060d8184
AC_WPNav: add get_target_alt
...
Required because waypoint controller will be modified to control
altitude
2013-04-14 10:37:58 +09:00
Randy Mackay
0d70ba1030
AC_WPNav: bug fix to dt calculation
2013-04-14 10:37:51 +09:00
Randy Mackay
39bc3800c9
AC_WPNav: add distance and bearing to target methods
2013-04-14 10:34:50 +09:00
Randy Mackay
b92c4097d2
AC_WPNav: first implementation
2013-04-14 10:34:47 +09:00
Andrew Tridgell
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
Andrew Tridgell
a5c3051929
AP_GPS: fixed initialisation error in uBlox driver
...
found with valgrind
2013-04-12 14:25:46 +10:00
Andrew Tridgell
dca597cda1
L1_Control: added a comment on speed of the L1 control code
2013-04-12 12:58:20 +10:00
Brandon Jones
a3c2851120
AP_L1_Control: Addition of library for geometry calculations required for L1 Control.
...
1) Explicit control of tracking loop period and damping which removes previous
variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance
The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
2013-04-12 12:48:09 +10:00
priseborough
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
...
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
2013-04-12 12:48:09 +10:00
Andrew Tridgell
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
2013-04-12 12:48:08 +10:00
Andrew Tridgell
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
2013-04-12 12:48:08 +10:00
Andrew Tridgell
43c3c60de2
AP_Math: moved a lot of vector templates to cpp from .h
...
this reduces the code size quite a lot on AVR
2013-04-12 12:48:08 +10:00
Andrew Tridgell
78eb12a4ac
AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH
2013-04-12 12:48:08 +10:00
Andrew Tridgell
8b119934ea
AP_Math: fixed grammar error
2013-04-12 12:48:08 +10:00
Andrew Tridgell
2d29a6a7be
AP_Math: added Vector2f.angle()
...
useful for calculating the vector in polar coordinates
2013-04-12 12:48:08 +10:00
Andrew Tridgell
f6aacdc768
AP_Navigation: added a navigation controller class
...
the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-04-12 12:48:08 +10:00
Randy Mackay
cdb532a594
Copter: bug fix for loiter target
2013-04-11 18:24:20 +09:00
Randy Mackay
86fe79a662
INS: updated MPU6K_FILTER parameter description
2013-04-10 00:14:53 +09:00
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
...
this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Stange Szilard
6516bffbb6
AP_Camera: enable relay off in all builds
2013-04-09 11:38:30 +10:00
Andrew Tridgell
8d992ae615
InertialSensor: added OilPan INS example
2013-04-08 07:07:25 +10:00
Randy Mackay
af13f6795c
INS: switch to global definition of GRAVITY_MSS
...
saves 4 bytes of RAM
2013-04-05 22:57:46 +09:00
Randy Mackay
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
2013-04-05 11:48:41 +09:00
foobarbecue
c07702f46d
Update AP_MotorsOctaQuad.cpp
...
There were two "4"s in the motor test order values. Presumably a typo.
2013-04-05 11:22:56 +09:00
Randy Mackay
739e3c2b9a
Copter: adjust trapezoidal motor mixing
2013-04-04 21:46:11 +09:00
Randy Mackay
e32cbd827b
Copter: replace quad trapezoid frame with V
...
Also update motor mixing
2013-04-03 22:14:29 +09:00
Randy Mackay
5bf55a9523
OpticalFlow: switch order of sin_yaw, cos_yaw
2013-04-02 15:49:31 +09:00
Andrew Tridgell
5667f5d817
AP_ADC: fixed APM1 HIL_SENSORS Ch6() return
2013-04-02 13:20:08 +11:00
Andrew Tridgell
310a5a6be1
DataFlash: don't try to write if no card inserted
2013-04-02 13:08:38 +11:00
Andrew Tridgell
6123ea2dac
PID: added get_pid_4500()
...
this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
2013-04-01 22:17:04 +11:00
Randy Mackay
6816c45c39
InertialNav: reduce Z-axis time constant to 5
2013-04-01 11:51:12 +09:00
Michael Oborne
541fa13291
cleanup comments
2013-03-31 17:14:54 +08:00
Michael Oborne
2160bf135d
fix sitl segfault in hil
2013-03-31 16:39:15 +08:00
Michael Oborne
87292e0a4a
Init hil accel with gravity
2013-03-31 16:38:48 +08:00
