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53,777 Commits 70 Branches 507 Tags 662 MiB
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31 Commits

Author SHA1 Message Date
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 
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