if the top level controller doesn't consider a waypoint complete when
we are passed next_WP then it would keep flying away from the line
segment. This doesn't happen with the current master code, but we want
to ensure it is handled
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
new param: NAVL1_XTRACK_I
// @Description: Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
fixes https://github.com/diydrones/ardupilot/issues/2650
when param is changed the integrator is set to zero. This makes for easier tuning by seeing it converge to zero on each change.
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.
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.
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
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>
Andrew Tridgell
Lucas De Marchi
dgrat
Don Gagne
Jonathan Challinger
Tom Pittenger
Gustavo Jose de Sousa
Andrew Tridgell
priseborough
Brandon Jones