Shiv Tyagi
d982c28ef2
AR_WPNav: add accessors for accel and jerk limits
2022-09-06 11:23:51 +09:00
Randy Mackay
c6dffb990f
AR_WPNav: add set_nudge_speed_max
...
allows pilot to override speed_max from RC input
2022-03-30 15:34:14 +09:00
Randy Mackay
394a5fd2fc
AR_WPNav: get/set_desired_speed renamed to get/set_speed_max
...
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
1996085282
AR_WPNav: init accepts speed max
...
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
2022-03-30 15:34:14 +09:00
Randy Mackay
a91025fa16
AR_WPNav: remove unused speed_min
2022-03-30 15:34:14 +09:00
Randy Mackay
537874c075
AR_WPNav: jerk_max maintained in position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
54eee7d311
AR_WPNav: simplify init
2022-03-30 15:34:14 +09:00
Randy Mackay
d03e801b65
AR_WPNav: remove get_accel_max, get_jerk_max
2022-03-30 15:34:14 +09:00
Randy Mackay
653afbeb15
AR_WPNav: enable_overspeed added to improve sailboat support
2022-03-30 15:34:14 +09:00
Randy Mackay
e0a628bb8c
AR_WPNav: add is_fast_waypoint accessor
2022-03-30 15:34:14 +09:00
Randy Mackay
f769a18996
AR_WPNav: add set_desired_location_expect_fast_update
2022-03-30 15:34:14 +09:00
Randy Mackay
461c5196e7
AR_WPNav: add ACCEL and JERK params and accessors
...
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
2022-03-30 15:34:14 +09:00
Randy Mackay
b1237ffe80
AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE
2022-03-30 15:34:14 +09:00
Randy Mackay
6515e71fc1
AR_WPNav: move OA path planning handling into a separate class
2022-03-30 15:34:14 +09:00
Randy Mackay
a185e78271
AR_WPNav: integrate AR_PivotTurn class
...
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
2022-03-30 15:34:14 +09:00
Randy Mackay
9d629f5ecd
AR_WPNav: use position controller and s-curves
2022-03-30 15:34:14 +09:00
Randy Mackay
3a492c8e3c
AR_WPNav: minor comment improvement
2021-12-01 08:54:18 +09:00
Tatsuya Yamaguchi
333588d7d4
AR_WPNav: add WP_PIVOT_DELAY parameter
2021-06-16 15:52:43 +09:00
Iampete1
c5503b9aed
AP_WPNav: read turn G acceleration from Atitude control
2021-05-03 19:22:16 -04:00
Randy Mackay
a2fe846a5f
AR_WPNav: apply_speed_min used for overshoot limits
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speed_min is applied to overshoot_speed_max only instead of des_speed_lim
so that the target doesn't immediately jump to the minimum.
also constify apply_speed_min
2020-12-08 11:29:21 +11:00
Randy Mackay
e75c572209
AR_WPNav: remove redundant private specifier
2020-12-08 11:29:21 +11:00
Randy Mackay
551f7d66c1
AR_WPNav: update crosstrack error during pivot turns
2020-08-07 08:30:03 +09:00
Randy Mackay
da746d6e8c
AR_WPNav: pivot only when destination set
...
this avoids unhelpful pivots as the vehicle reaches the waypoint when WP_RADIUS is very small
2020-08-07 08:30:03 +09:00
Peter Hall
43449a4adb
AR_WPNav: remove unneeded overshoot methods
2019-10-23 08:28:39 +08:00
Peter Hall
b6efcbcf3b
AR_WPNav: make get_stopping_location public
2019-09-27 09:09:47 +09:00
Peter Hall
db87285153
AR_WPNav: add oa_wp_bearing_cd function
2019-08-24 09:05:29 +09:00
Randy Mackay
f5a307fb13
AR_WPNav: add speed_min parameter
...
Should be set to boat's plane speed and ensure vehicle does not slow below this speed in corners
2019-08-05 17:04:43 -06:00
Randy Mackay
70e9881880
AR_WPNav: integrate OAPathPlanner
2019-06-11 13:13:22 +09:00
Randy Mackay
ce44d127c0
AR_WPNav: add is_destination_valid accessor
2019-05-29 09:40:05 +09:00
Randy Mackay
b0f0b16135
AR_WPNav: remove unnecessary temp variable
...
also heading-unknown made a const
also minor comment fix
also removed unused include
2019-05-10 06:55:35 +09:00
Peter Barker
6f97f56726
AR_WPNav: add WARN_IF_UNUSED to various methods, fix for same
2019-05-10 06:55:35 +09:00
Randy Mackay
56c344ae94
AR_WPNav: rover navigation library
2019-05-10 06:55:35 +09:00
