Commit Graph

147 Commits

Author SHA1 Message Date
Jonathan Challinger 6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
priseborough 11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces
Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough 5fa0c59310 AC_WPNav: Add EKF ground speed limit to loiter speed control
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
Jonathan Challinger 2cc65dffe0 AC_WPNav: add set_spline_dest_and_vel function 2014-11-17 14:38:46 -08:00
Jonathan Challinger 369839c7ca AC_WPNav: Use target yaw instead of current yaw for close waypoints 2014-10-31 15:23:52 +09:00
Randy Mackay dbe1c55666 AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
2014-09-29 15:26:18 +09:00
Randy Mackay 765420ee04 AC_WPNav: add loiter_soften_for_landing method
This resets the position target to the current location.
2014-09-19 16:43:10 +09:00
Randy Mackay 2b64c511ed AC_WPNav: update yaw only when track is at least 2m 2014-07-06 17:02:12 +09:00
Randy Mackay a2f54fdf2c AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot
First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint".  Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
2014-06-10 20:03:01 +09:00
Randy Mackay efd6d6dc70 AC_WPNav: spline div by zero fix
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
2014-06-05 22:23:38 +09:00
lthall 0912bec8f5 Spline div zero and leash limit fix 2014-06-05 22:23:35 +09:00
Randy Mackay 597d5227f5 AC_WPNav: rename set_loiter_target to init_loiter_target 2014-05-19 12:27:25 +09:00
Randy Mackay 5d20594fa4 AC_WPNav: bug fix for loiter and waypoint update rate
Thanks to EmileC for spotting this
2014-05-12 20:13:46 +09:00
lthall 9ab9eaec25 AC_WPNav: Loiter jerk default to 10m/s/s/s
Pair programmed with Randy
2014-05-08 16:16:05 +09:00
Randy Mackay 091ff91a70 WPNav: add wp_and_spline_init to set speeds an init pos controller 2014-05-08 16:15:50 +09:00
Randy Mackay 48ec0caf75 AC_WPNav: run navigation at 10hz in SITL 2014-05-08 16:15:44 +09:00
lthall b38c484874 AC_WPNav: add LOIT_JERK parameter
Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero

Pair programmed with Randy
2014-05-08 16:15:38 +09:00
Randy Mackay fd9f8f571f AC_WPNav: replace inav, ahrs pointers with references 2014-05-08 16:15:26 +09:00
Randy Mackay 0103ae2eb0 AC_WPNav: add WPNAV_ACCEL_Z
Allows configurable z-axis acceleration during missions
2014-04-30 21:46:12 +09:00
Randy Mackay 510c9920a6 AC_WPNav: rename get_horizontal_velocity to get_speed_xy
This new method name is consistent with the equivalent in the
AC_PosControl class
2014-04-30 21:46:06 +09:00
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 b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +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
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 64cfcb2308 AC_WPNav: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +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 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
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
2013-08-28 11:33:10 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
2013-08-11 12:53:22 +09:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
2013-07-10 20:00:32 +09:00
Randy Mackay 5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
2013-07-10 15:52:18 +09:00
Randy Mackay 649cbf6b68 WPNav: reduce default WP_ACCEL and LOITER_SPEED 2013-07-07 16:00:13 -10:00
Randy Mackay dde19c9585 WPNav: add acceleration parameter
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
2013-06-16 11:40:51 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
2013-06-15 18:18:30 +09:00
Randy Mackay 7a2afb7443 Copter Nav: add accessor for waypoint speed 2013-06-01 18:21:29 +09:00
Randy Mackay 8c4a7ec094 Copter WPNav: Leonard's improved speed fix
Also pass in althold gain from main code
2013-05-31 21:03:27 +09:00
Randy Mackay d203f0295b Copter: bug fix for vertical speed during missions 2013-05-30 11:52:04 +09:00
Randy Mackay dbd6524f9f Copter: WPNav consolidate acceleration #defines 2013-05-27 10:36:24 +09:00
Randy Mackay e3dffb920b Copter: initialise target vel in loiter 2013-05-25 14:07:04 +09:00
Randy Mackay 916f241fff Copter: Leonard's improved Loiter 2013-05-24 23:45:03 +09:00
Randy Mackay cb795ea536 WPNav: divide by zero checks 2013-05-15 11:51:26 +09:00
Randy Mackay 61288fcb90 WPNav: make get_stopping_point method public 2013-05-11 16:05:42 +09:00
Randy Mackay ed5ddfd9db WPNav: initialise desired roll, pitch
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
2013-05-09 18:32:02 +09:00
Randy Mackay 9f735c8d03 WPNav: add fast waypoints flag
Waypoint is considered "reached" when the intermediate point reaches the
destination
2013-05-09 00:18:02 +09:00
Randy Mackay 4704b729c2 WPNav: reduce max acceleration to 2.5m/s
Also includes bug fix to ramp up of speed of intermediate point
2013-05-08 23:20:29 +09:00
Randy Mackay 328d900647 WPNav: flexible loiter speed
Also includes bug fix to allow speeds > 10m/s during missions
2013-05-07 17:11:24 +09:00
Randy Mackay ad01aeee44 Copter: increase max loiter overshoot to 8.12m 2013-04-30 18:07:48 +09:00
Randy Mackay c139134192 Copter: increase max loiter speed to 7.5m/s 2013-04-30 12:49:19 +09:00
Randy Mackay 6c081c3def AC_WPNav: slow acceleration of intermediate point 2013-04-30 10:20:23 +09:00
Andrew Tridgell ad40ba57be AC_WPNav: optimise to reduce memory copies
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-04-22 12:21:58 +10:00
Randy Mackay 2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Randy Mackay 1c046fa49f AC_WPNav: increase max descent speed to 1.5m/s 2013-04-18 22:32:00 +09:00
Randy Mackay 764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay effd5b0da7 AC_WPNav: improved comments
Made SPEEDZ a parameter although it's not yet used
2013-04-18 11:17:41 +09:00
Randy Mackay 8046fe2cf3 AC_WPNav: increase max accel to 8m/s/s 2013-04-15 21:57:56 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay 0eab3e87b2 AC_WPNav: use prev wp as origin for next wp 2013-04-14 18:27:39 +09:00
Randy Mackay 0351c2ae33 AC_WPNav: allow setting of horizontal velocity
Also added accessor function for waypoint radius parameter
2013-04-14 13:24:14 +09:00
Randy Mackay 0ac3762bdd AC_WPNav: fix compiler warning 2013-04-14 10:39:26 +09:00
Randy Mackay 9d7d174995 AC_WPNAV: check distance to waypoint within library
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
2013-04-14 10:39:21 +09:00
Randy Mackay 35001619f0 AC_WPNav: stop track_desired from moving backwards 2013-04-14 10:39:19 +09:00
Randy Mackay c6b68c7843 AC_WPNav: Leonard's 3d leash calculator 2013-04-14 10:39:08 +09:00
Randy Mackay 74e1c2e660 AC_WPNav: advance track fixes 2013-04-14 10:39:05 +09:00
Randy Mackay bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay 6dbcbdcb43 AC_WPNav: limit max loiter position error
move interpretation of pilot input to wpnav lib
2013-04-14 10:38:58 +09:00
Randy Mackay 31838b2865 AC_WPNAV: change loiter controllers to use floats
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
2013-04-14 10:38:56 +09:00
Randy Mackay 0ccdce1b22 AC_WPNav: Leonard's ff loiter and 3d wp nav 2013-04-14 10:38:43 +09:00
Randy Mackay 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay afd2f82768 AC_WPNav: bug fix for track covered being 2D
Replaced abs and fabs with fabsf
Added get_destination method
2013-04-14 10:38:32 +09:00
Randy Mackay 8ec7fd1c9c AC_WPNav: add set_loiter_target to use velocity
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
2013-04-14 10:38:25 +09:00
Randy Mackay 3bfcc3b8d0 AC_WPNav: replace get_target_alt with get_destination_alt 2013-04-14 10:38:13 +09:00
Randy Mackay c40080e76a AC_WPNav: added set_target_alt 2013-04-14 10:38:04 +09:00
Randy Mackay 60060d8184 AC_WPNav: add get_target_alt
Required because waypoint controller will be modified to control
altitude
2013-04-14 10:37:58 +09:00
Randy Mackay 0d70ba1030 AC_WPNav: bug fix to dt calculation 2013-04-14 10:37:51 +09:00
Randy Mackay 39bc3800c9 AC_WPNav: add distance and bearing to target methods 2013-04-14 10:34:50 +09:00
Randy Mackay b92c4097d2 AC_WPNav: first implementation 2013-04-14 10:34:47 +09:00