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20 Commits

Author SHA1 Message Date
Andrew Tridgell 52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Leonard Hall 32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Randy Mackay dbc9b0c2f9 AC_Loiter: init brake_accel and fix brake timer type 2021-07-04 08:19:10 +10:00
Hwurzburg 158c7c499d AC_WPNav: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
Leonard Hall 166f059fc2 AC_WPNav: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 538d8f82fb AC_WPNav: PosControl fixes 2021-05-24 20:13:37 +10:00
Rishabh 711b497cc3 AC_Loiter: Make avoidance optional while using loiter controller 2021-03-22 14:04:42 +09:00
Rishabh 401d365491 AC_WPNav: Adapt to 3-D Avoidance changes 2021-02-01 14:34:13 +09:00
Leonard Hall e2308e9414 AC_Loiter: use AP_Math control tools common functions 2021-01-20 18:19:40 +11:00
Peter Barker f2163fbc24 AC_WPNav: use singleton for getting AC_Avoid instance 2019-06-06 11:47:22 +10:00
Peter Barker 2c5373e278 AC_WPNav: add floating point constant designators 2019-04-05 23:04:17 -07:00
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
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 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
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 cc5ad7c004 AC_Loiter: loiter extracted from AC_WPNav 2018-04-04 10:45:10 +09:00