Randy Mackay
db51d37071
AC_WPNav: add clear_pilot_desired_acceleration
...
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
2014-04-25 14:45:14 +09:00
Randy Mackay
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
2014-04-24 13:16:08 +09:00
Randy Mackay
46fba47c8e
AC_WPNav: slow target point's speed near destination
2014-04-24 13:16:00 +09:00
Randy Mackay
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
2014-04-23 15:00:14 +09:00
Randy Mackay
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
2014-04-23 15:00:07 +09:00
Ju1ien
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
2014-04-23 14:59:47 +09:00
Randy Mackay
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
2014-04-22 23:05:11 +09:00
Randy Mackay
648787a6c8
AC_WPNav: rename some definitions
2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e
AC_WPNav: update target speed immediately
2014-04-21 14:51:26 +09:00
Randy Mackay
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
2014-04-21 13:32:02 +09:00
Randy Mackay
72d2712c4e
AC_WPNav: integrate update_xy_controller name change
2014-04-21 13:31:58 +09:00
Randy Mackay
966340a02a
Circle: integrate update_xy_controller name change
2014-04-21 13:31:57 +09:00
Randy Mackay
94d38ee294
AC_Circle: add get_closest_point_on_circle
...
init_start_angle method added to use current heading or position to
decide on initial start angle
2014-04-16 16:28:04 +09:00
Randy Mackay
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
2014-04-13 22:42:50 +09:00
Randy Mackay
15da01cf3a
AC_WPNav: replace safe_sqrt with pythagorous2
2014-04-01 20:43:45 +09:00
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
Andrew Tridgell
04587efb2d
AC_WPNav: fixed example build
2014-03-19 12:14:00 +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
6af705d455
AC_Circle: bug fix for pos target when radius is zero
2014-02-16 13:46:38 +11:00
Randy Mackay
bf3effcd10
AC_WPNav: fix example sketch
2014-02-15 06:09:08 +11:00
Randy Mackay
fbf8106280
AC_Circle: remove AC_PID include
...
This is no longer required with introduction of PosControl lib
2014-02-15 06:09:08 +11:00
Randy Mackay
e86a21a254
AC_WPNav: remove AC_PID include
...
This is no longer required with introduction of PosControl lib
2014-02-15 06:09:08 +11:00
Randy Mackay
9e31f0b985
AC_WPNav: use PosControl accessor
...
Saves 2bytes of RAM
2014-02-15 05:27:50 +11:00
Randy Mackay
598a1b1f43
AC_Circle: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
64cfcb2308
AC_WPNav: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
17177adccf
AC_Circle: remove debug comment
2014-02-15 05:27:46 +11:00
Randy Mackay
864f64b61a
AC_Circle: circle control library
2014-02-15 05:27:40 +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
...
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
0d4ba04e75
AC_WPNav: make advance_wp_target private
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
0a3559813a
AC_WPNav: accessor for loiter speed
2014-01-15 15:22:30 +09:00
Andrew Tridgell
29b37b72e4
AC_WPNAV: fixed example build
2013-12-17 11:51:37 +11:00
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
