10 Commits

Author	SHA1	Message	Date
Andrew Tridgell	5a1aa8dfe7	AP_L1_Control: implement turn_distance() with turn angle ... uses a linear approximation for now.	2014-06-05 09:34:23 +10:00
Paul Riseborough	49fe7fea07	L1_Control : Added hysteresis for rear WP capture	2013-11-09 15:40:14 +11:00
Andrew Tridgell	341dca4dfe	AP_L1_Control: added set_default_period() ... used by the rover code	2013-09-09 19:55:53 +10:00
Andrew Tridgell	31fce44063	AP_L1_Control: use a reference to AHRS ... makes code a bit simpler	2013-08-13 13:49:26 +10:00
Andrew Tridgell	b74ed795f2	AP_L1_Control: removed _maxf() and _geo2planar() functions ... not needed any more	2013-08-13 12:07:35 +10:00
Andrew Tridgell	953051b49e	AP_L1_Control: added lateral acceleration interface ... this will be used by the Rover code for steering	2013-08-12 13:38:38 +10:00
Andrew Tridgell	86db955ac9	AP_L1_Control: fixed indent-tabs-mode	2013-05-30 09:54:53 +10:00
Andrew Tridgell	9654546b5a	AP_L1_Control: Cleaned up calculation of damping to reduce computations ... also removed _cross2D, using math library instead	2013-05-05 21:51:08 +10:00
Andrew Tridgell	571c48b9d5	L1_Control: cleanup some unused code and variables	2013-04-15 10:52:32 +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