Randy Mackay
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328d900647
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WPNav: flexible loiter speed
Also includes bug fix to allow speeds > 10m/s during missions
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2013-05-07 17:11:24 +09:00 |
Randy Mackay
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1f8161b493
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AC_WPNav: remove unnecessary speed constraint
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2013-05-07 11:58:04 +09:00 |
Randy Mackay
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647a93e78e
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Copter: remove jerk when entering RTL or AUTO
Loiter target position was not being initialised properly.
Add a few more comments
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2013-05-03 16:58:00 +09:00 |
Andrew Tridgell
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ba83950fc4
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libraries: replace constrain() with constrain_float()
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
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2013-05-02 10:25:40 +10:00 |
Randy Mackay
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ad01aeee44
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Copter: increase max loiter overshoot to 8.12m
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2013-04-30 18:07:48 +09:00 |
Randy Mackay
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c139134192
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Copter: increase max loiter speed to 7.5m/s
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2013-04-30 12:49:19 +09:00 |
Randy Mackay
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6c081c3def
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AC_WPNav: slow acceleration of intermediate point
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2013-04-30 10:20:23 +09:00 |
Andrew Tridgell
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ad40ba57be
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AC_WPNav: optimise to reduce memory copies
save a few cycles
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
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2013-04-22 12:21:58 +10:00 |
Randy Mackay
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2fc25da4c3
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Copter: Leonard's fix for get_loiter_accel_to_lean_angle
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2013-04-21 16:27:50 +09:00 |
Randy Mackay
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1c046fa49f
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AC_WPNav: increase max descent speed to 1.5m/s
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2013-04-18 22:32:00 +09:00 |
Randy Mackay
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ed298363f4
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AC_WPNav: remove unnecessary limit in leash calc
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2013-04-18 22:31:44 +09:00 |
Randy Mackay
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764853bd56
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AC_WPNav: add climb and descent params, dynamic leash length
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2013-04-18 14:51:01 +09:00 |
Randy Mackay
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effd5b0da7
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AC_WPNav: improved comments
Made SPEEDZ a parameter although it's not yet used
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2013-04-18 11:17:41 +09:00 |
Randy Mackay
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8046fe2cf3
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AC_WPNav: increase max accel to 8m/s/s
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2013-04-15 21:57:56 +09:00 |
Randy Mackay
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8fe3e689f4
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Copter: add WPNAV log message
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2013-04-15 21:54:29 +09:00 |
Randy Mackay
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0eab3e87b2
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AC_WPNav: use prev wp as origin for next wp
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2013-04-14 18:27:39 +09:00 |
Randy Mackay
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0351c2ae33
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AC_WPNav: allow setting of horizontal velocity
Also added accessor function for waypoint radius parameter
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2013-04-14 13:24:14 +09:00 |
Randy Mackay
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252e98ec57
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AC_WPNav: use global gravity constant
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2013-04-14 10:39:32 +09:00 |
Randy Mackay
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0ac3762bdd
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AC_WPNav: fix compiler warning
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2013-04-14 10:39:26 +09:00 |
Randy Mackay
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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
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2013-04-14 10:39:21 +09:00 |
Randy Mackay
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35001619f0
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AC_WPNav: stop track_desired from moving backwards
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2013-04-14 10:39:19 +09:00 |
Randy Mackay
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c6b68c7843
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AC_WPNav: Leonard's 3d leash calculator
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2013-04-14 10:39:08 +09:00 |
Randy Mackay
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74e1c2e660
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AC_WPNav: advance track fixes
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2013-04-14 10:39:05 +09:00 |
Randy Mackay
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bc87118062
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AC_WPNav: add get_target_alt method
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2013-04-14 10:39:00 +09:00 |
Randy Mackay
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6dbcbdcb43
|
AC_WPNav: limit max loiter position error
move interpretation of pilot input to wpnav lib
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2013-04-14 10:38:58 +09:00 |
Randy Mackay
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31838b2865
|
AC_WPNAV: change loiter controllers to use floats
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
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2013-04-14 10:38:56 +09:00 |
Randy Mackay
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0ccdce1b22
|
AC_WPNav: Leonard's ff loiter and 3d wp nav
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2013-04-14 10:38:43 +09:00 |
Randy Mackay
|
926c404994
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AC_WPNav: Leonard's loiter target smoothing
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2013-04-14 10:38:39 +09:00 |
Randy Mackay
|
f82ce449d7
|
AC_WPNav: add angle limits and set from AC's throttle controller
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2013-04-14 10:38:34 +09:00 |
Randy Mackay
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afd2f82768
|
AC_WPNav: bug fix for track covered being 2D
Replaced abs and fabs with fabsf
Added get_destination method
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2013-04-14 10:38:32 +09:00 |
Randy Mackay
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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.
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2013-04-14 10:38:25 +09:00 |
Randy Mackay
|
3bfcc3b8d0
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AC_WPNav: replace get_target_alt with get_destination_alt
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2013-04-14 10:38:13 +09:00 |
Randy Mackay
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c40080e76a
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AC_WPNav: added set_target_alt
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2013-04-14 10:38:04 +09:00 |
Randy Mackay
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60060d8184
|
AC_WPNav: add get_target_alt
Required because waypoint controller will be modified to control
altitude
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2013-04-14 10:37:58 +09:00 |
Randy Mackay
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0d70ba1030
|
AC_WPNav: bug fix to dt calculation
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2013-04-14 10:37:51 +09:00 |
Randy Mackay
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39bc3800c9
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AC_WPNav: add distance and bearing to target methods
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2013-04-14 10:34:50 +09:00 |
Randy Mackay
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b92c4097d2
|
AC_WPNav: first implementation
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2013-04-14 10:34:47 +09:00 |