f15a828f67
AP_L1_Control: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-19 20:42:47 +09:00
9ecbd0e30f
AP_L1_Control: fixed uTurn-wobble
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When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
2015-04-08 15:21:02 -07:00
b21c00fcf9
AP_L1_Control: changed default L1 tuning to 20
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this is more appropriate for most aircraft
2015-02-19 16:19:33 +11:00
1fc8116069
AP_L1_Control: update NAV_L1_PERIOD docs
2014-11-13 14:26:42 +11:00
59610ebe88
AP_L1_Control: fixed some warnings
2014-10-22 18:27:16 +11:00
df3c565cd8
AP_L1_Control: prevent another NaN in L1
2014-08-14 14:10:03 +10:00
bc3c85be20
AP_L1_Control : Fix potential divide by zero error
2014-08-07 19:04:42 +10:00
5a1aa8dfe7
AP_L1_Control: implement turn_distance() with turn angle
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uses a linear approximation for now.
2014-06-05 09:34:23 +10:00
aba11a0634
AP_L1_Control: wrap the target_bearing
2014-05-23 07:30:58 +10:00
b9128a932f
AP_L1_Control: no need to project position for lag
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now handled by AHRS
2014-02-15 05:29:47 +11:00
cfad814bfb
AP_L1_Control: fixed switchover from loiter capture to circling
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Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-09 15:52:11 +11:00
49fe7fea07
L1_Control : Added hysteresis for rear WP capture
2013-11-09 15:40:14 +11:00
1393ed58d0
AP_L1_Control: fixed waypoint approach logic
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this could cause the RTL approach to not break off onto the circle
correctly
2013-11-09 12:54:26 +11:00
ea9a2eda3f
AP_L1_Control: reduced demanded bank angle by cos(pitch)
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this prevents attempts to do too tight turns while at a steep pitch
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-04 21:21:42 +11:00
341dca4dfe
AP_L1_Control: added set_default_period()
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used by the rover code
2013-09-09 19:55:53 +10:00
144516c941
AP_L1_Control: set min groundspeed to 0.1
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this works better for slow rovers
2013-08-14 14:57:23 +10:00
31fce44063
AP_L1_Control: use a reference to AHRS
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makes code a bit simpler
2013-08-13 13:49:26 +10:00
08ec43ef89
AP_L1_Control: use get_position()
2013-08-13 12:07:35 +10:00
b74ed795f2
AP_L1_Control: removed _maxf() and _geo2planar() functions
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not needed any more
2013-08-13 12:07:35 +10:00
653fa5a191
AP_L1_Control: adjust position for GPS lag
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this should help for rovers
2013-08-13 12:07:35 +10:00
fd4bceaafe
AP_L1_Control: avoid using float global coordinates
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this increases the navigation precision of rovers using L1 control
down to the centimeter level
2013-08-13 12:07:35 +10:00
df8e8c64e8
AP_L1_Control: use projected position for turns
2013-08-13 12:07:34 +10:00
9c88872ad0
AP_L1_Control: use a better ground speed estimate at low speeds
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this should prevent a rover going in the wrong direction at the start
of a mission
2013-08-13 12:07:34 +10:00
953051b49e
AP_L1_Control: added lateral acceleration interface
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this will be used by the Rover code for steering
2013-08-12 13:38:38 +10:00
cf4a74cfb8
AP_L1_Control: fix for new AP_Math API
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Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:02 +10:00
0c64c800b3
AP_L1_Control : Fixed bug in track capture angle limit
2013-08-02 21:47:45 +10:00
097718e833
AP_L1_Control: scale loiter and wp radius with altitude
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this should keep the aircraft stable in loiter at very high altitudes
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
86db955ac9
AP_L1_Control: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
9f309a2aa6
AP_L1_Control: Remove potential nan errors
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If WP A and B were the same or ground speed was exactly zero, then the
previous code would produce a nan output. Protection against these
two cases has been added.
If WP A and B are equal, we track directly to the target waypoint
2013-05-13 11:27:51 +10:00
9654546b5a
AP_L1_Control: Cleaned up calculation of damping to reduce computations
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also removed _cross2D, using math library instead
2013-05-05 21:51:08 +10:00
ba83950fc4
libraries: replace constrain() with constrain_float()
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this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
c067fa2660
L1_Control: make NAVL1_DAMPING docs clearer
2013-04-29 14:24:34 +10:00
84ed37938d
Plane : AP_L1_Control : Replaced division by constants with multiplies and adjusted default L1 period to 25 seconds
2013-04-28 14:47:59 +10:00
9ff0888a17
AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation
2013-04-15 21:11:30 +10:00
97bfd16bd1
L1_Control: constrain the roll to handle floating point errors
2013-04-15 14:29:39 +10:00
571c48b9d5
L1_Control: cleanup some unused code and variables
2013-04-15 10:52:32 +10:00
a423d102e0
Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry
2013-04-15 10:52:32 +10:00
181f7368a3
AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance
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this gives less surprising behaviour for users
2013-04-15 10:52:32 +10:00
dca597cda1
L1_Control: added a comment on speed of the L1 control code
2013-04-12 12:58:20 +10:00
a3c2851120
AP_L1_Control: Addition of library for geometry calculations required for L1 Control.
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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
Gustavo Jose de Sousa
Tom Pittenger
Andrew Tridgell
Andrew Tridgell
priseborough
Brandon Jones