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Commit Graph

255 Commits

Author SHA1 Message Date
Josh Henderson 156da6431f AC_WPNav: simplify get_wp_destination_loc 2021-09-10 14:08:46 +09:00
Randy Mackay ac57e91e8f AC_WPNav: protect against divide-by-zero 2021-09-10 14:08:46 +09:00
Randy Mackay e0143d4008 AC_WPNav: move definitions to .cpp file 2021-09-10 14:08:46 +09:00
Randy Mackay 93197133be AC_WPNav: terrain spelling fix 2021-09-10 14:08:46 +09:00
Leonard Hall a1975d7535 AC_WPNav: Fix Jerk units 2021-08-28 17:10:29 +09:00
Leonard Hall b25dab9c9b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall b8cc90688e AC_WPNav: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Randy Mackay fce7db0d18 AC_WPNav: use get_terrain_margin instead of constant 2021-07-23 10:19:49 +09:00
Randy Mackay 33ec14ce70 AC_WPNav: add TER_MARGIN param 2021-07-23 10:19:49 +09:00
Leonard Hall 4bbc69ef6e AC_WPNav: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall fcde1e7370 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-06-25 16:54:05 +09:00
Andrew Tridgell 1d00cab9e6 AC_WPNav: convert circle, loiter and WPNav to double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell bf91168cd6 AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Josh Henderson 757fc1d679 AC_WPNav: ensure that wp_radius greater than min 
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
 2021-06-09 10:55:15 +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
chobits 00b44ff6c8 AC_WPNav: remove unused function 2021-05-03 20:10:39 -04:00
Randy Mackay a3ceb6d95b AC_WPNav: fix spline initialisation of terrain offset 2021-04-28 10:18:04 +09:00
Leonard Hall 361ba989bd AC_WPNav: Use Pos_Control Heading 2021-04-27 17:13:55 +09:00
Randy Mackay b81930885c AC_WPNav: remove unnecessary assignment and constify local vars 2021-04-21 10:41:28 +10:00
Randy Mackay bebb7e7d8f AC_WPNav: removed unused enums 2021-04-21 10:41:28 +10:00
chobits fd88e53be6 AC_WPNav: remove unassigned _track_desired 2021-04-08 16:13:51 +09:00
Randy Mackay 2201450180 AC_WPNav: renames and comment fixes 2021-04-03 12:07:59 +09:00
Randy Mackay 85b24cf641 AC_WPNav: fix get_wp_destination_loc 
was incorrectly adding alt-above-terrain as if it was alt-above-ekf-origin
also fixup comments
 2021-04-03 12:07:59 +09:00
Leonard Hall 32c27b32aa AC_WPNav: support for SCurve navigation 
set_wp_destination clear yaw target
limit velocity and acceleration based on track slope
add is_active() and remove unused reached_spline_destination
init accepts desired speed
set_kinematic_limits uses current speed limits instead of defaults
add time compression to prevent target moving too fast for air
implement alternative spline
remove vel-target-length
set_wp_destination always calculates this leg
set_kinematic_limits moved to scurve
fix origin speed after spline segment
spline terrain following fix
handle s-curves with mismatching alt types
fix set_spline_destination_next
add update_track_with_speed_accel_limits
Change to next waypoint at corner apex
use scurve advance along track
remove unused definitions and out-of-date todo
set_spline_destination_next sets fast_waypoint
scurve origin speed set from spline target velocity
fixup takeoff delay
 2021-04-03 12:07:59 +09:00
Leonard Hall 25f1a4a4e1 AC_WPNav: add shift_wp_origin_to_current_pos_xy 
also add shift_wp_origin_and_destination_to_stopping_point_xy
 2020-03-11 10:39:18 +09:00
bnsgeyer 593ff6818d AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL 
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
          Changed at Leonard's request to keep things simpler
 2020-02-22 08:53:41 +09:00
Randy Mackay 3ca28e27c6 AC_WPNav: add get_terrain_source and rename existing method 
this allows RTL to determine which source of terrain data will be used which is required when building the return path
 2019-12-17 20:02:01 +09:00
Peter Barker 56de1f2eed AC_WPNav: do not calculate NEU vector from invalid location 2019-09-17 09:05:23 +09:00
Randy Mackay 6361a9a204 AC_WPNav: constify get_wp_destination 2019-08-17 09:42:43 +09:00
Peter Barker f21fcca9d0 AC_WPNav: take references to inav's position rather than a copy 2019-07-12 21:56:06 +09:00
Rishabh ce48b82500 AC_WPNav: remove brake 2019-06-13 09:02:46 +09:00
murata d3d6bed584 AP_WPNav: Change the value of the minimum effective radius 2019-04-26 20:10:19 +09:00
Peter Barker d9ddb8f34d AC_WPNav: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
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 e93dee89b7 AC_WPNav: rely on AC_PosControl to hold current target speed 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
chobits 7fa7c8f403 AC_WPNav: add set_speed_z 2018-10-13 13:16:26 +09:00
Peter Barker 3faf7824c0 AC_WPNav: allow position control to get ekf navigation scalars directly 2018-10-09 10:47:38 +11:00
Michael du Breuil d3bee76f0b AC_WPNav: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
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 9426ee6df6 AC_WPNav: remove loiter 
Loiter is in separate AC_Loiter class
 2018-04-04 10:45:10 +09:00