Randy Mackay
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ed5ddfd9db
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WPNav: initialise desired roll, pitch
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
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2013-05-09 18:32:02 +09:00 |
Randy Mackay
|
9f735c8d03
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WPNav: add fast waypoints flag
Waypoint is considered "reached" when the intermediate point reaches the
destination
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2013-05-09 00:18:02 +09:00 |
Randy Mackay
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4704b729c2
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WPNav: reduce max acceleration to 2.5m/s
Also includes bug fix to ramp up of speed of intermediate point
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2013-05-08 23:20:29 +09:00 |
Randy Mackay
|
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
|
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
|
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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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
|
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
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2013-04-21 16:27:50 +09:00 |
Randy Mackay
|
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
|
764853bd56
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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
|
8fe3e689f4
|
Copter: add WPNAV log message
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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
|
252e98ec57
|
AC_WPNav: use global gravity constant
|
2013-04-14 10:39:32 +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
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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
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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
|
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
|
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 |