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212 Commits

Author SHA1 Message Date
liang.tang 1a12b958fc AC_WPNav: check validity of kP 2018-07-11 14:07:43 +09:00
Pierre Kancir bffe3f6c21 AC_WPNav: add getter for crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker 4c8c85f75b AC_WPNav: remove pointless initialisations 
new clears this memory
 2018-06-06 08:33:56 +09:00
Peter Barker fa0b315374 AC_WPNav: use rangefinder for terrain offset even if terrain not available 2018-06-06 08:33:56 +09:00
Peter Barker 2c962afe98 AC_WPNav: add get_wp_destination to get a Location_Class for the wp 2018-05-18 20:26:37 +10:00
murata 494735db2e AC_WPNav: Change the variable name according to the unit. 2018-05-14 16:38:47 +09:00
Randy Mackay 9426ee6df6 AC_WPNav: remove loiter 
Loiter is in separate AC_Loiter class
 2018-04-04 10:45:10 +09:00
Randy Mackay 0ba22a1feb AC_WPNav: remove brake dependency on loiter 2018-04-04 10:45:10 +09:00
Randy Mackay 032b4373f6 AC_WPNav: removed brake's unused dt calc 2018-03-31 13:42:59 +09:00
Randy Mackay d0e6c4d08d AC_WPNav: correct LOIT_MAXA param description 2018-03-16 13:50:57 +09:00
Randy Mackay 21abe1194e AC_WPNav: run horizontal position control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay 5be1020578 AC_WPNav: use multiply instead of divide 
non-functional change
 2018-03-16 13:50:57 +09:00
Randy Mackay 92b56c2c89 AC_WPNav: init_loiter_target always resets I term 
This was only used by poshold and this has been removed as part of "new-loiter"
 2018-03-16 13:50:57 +09:00
Leonard Hall 1c0678226c AC_WPNav: new loiter including accel ff and braking 
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt

Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
 2018-03-16 13:50:57 +09:00
Leonard Hall c7c3dd561a AC_WPNav: brake, wp and spline clear desired velocity_xy 2018-03-16 13:50:57 +09:00
Leonard Hall 6430b75224 AC_WPNav: remove xy mode from brake, wp, spline 2018-03-16 13:50:57 +09:00
Leonard Hall c59dc21c8b AC_WPNav: sanity check wp accel max vs lean angle max 2018-03-16 13:50:57 +09:00
Randy Mackay f189ce5c68 AC_WPNav: minor formatting fix 
non-functional change
 2018-02-02 20:55:20 +09:00
Randy Mackay 368245017a AC_WPNav: access pos-controller's horizontal p object 2018-01-23 12:00:43 +09:00
Randy Mackay 094620bc8a AC_WPNav: pass dt to avoidance 2018-01-16 12:13:48 +09:00
Randy Mackay 4d0c24f4eb AC_WPNav: RFND_USE param desription update 2018-01-12 16:50:00 +09:00
Peter Barker dff27ec506 AC_WPNav: correct call for getting location vector 
Function has been renamed and only takes a Vector2f
 2017-12-15 01:24:13 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 1a512609ac AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 07c8d208bc AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
Leonard Hall e49d29f8cd AC_WPNav: protect against divide by zero 
This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
 2017-11-23 21:24:28 +09:00
squilter da7aa36f2d AC_WPNav: add set_wp_destination_NED to accept target in meters NED 2017-09-09 14:05:41 +09:00
Randy Mackay bd2ba1565c AC_WPNav: minor format fix 2017-07-10 13:26:37 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 079d2ff3be AC_WPNav: correct min limit 2017-05-18 20:48:50 +09:00
Randy Mackay a1a5c9f239 AC_WPNav: sanity check wpnav-radius 
Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
 2017-05-18 12:25:47 +09:00
Randy Mackay bffc5daeb0 AC_WPNav: unset yaw when setting new origin and destination 
This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
 2017-05-03 09:15:01 +09:00
Randy Mackay b1bd3f0364 AC_WPNav: yaw points along leash 2017-04-29 11:47:51 +09:00
Leonard Hall 62c123bb08 AC_WPNav: correct straight line waypoint leash calculation 
The former calculation was not correctly using the 3D leash
 2017-04-28 17:58:34 +09:00
Leonard Hall ba011eef78 AC_WPNav: init z-axis feed-foward to correct stopping point calcs 2017-04-28 09:10:02 +09:00
Randy Mackay e2cf836734 AC_WPNav: add get_stopping_point 
returns 3D stopping point, simply re-uses pos_controller methods
 2017-04-27 14:36:22 +09:00
Randy Mackay e96332d346 AC_WPNav: reduce spline to straight twitch 2017-04-27 11:21:33 +09:00
Randy Mackay d4c4daca16 AC_WPNav: speed-up and down parameter min to 10cm/s 2017-03-15 09:22:23 +09:00
Randy Mackay 8c6c2e46cc AC_WPNav: protect against LOIT_SPEED divide-by-zero 2017-03-15 09:22:23 +09:00
Andrew Tridgell 17e1329068 AC_WPNav: converted to use AP_AHRS_View 
for use in quadplane tailsitters
 2017-02-18 17:26:43 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 713b08d830 AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s 2017-01-07 14:30:07 +09:00
Randy Mackay a32068a973 AC_WPNav: remove ekf position reset handler 
This has been migrated to the position control library
 2016-11-24 19:58:00 +09:00
Randy Mackay 6406e34016 AC_WPNav: remove unused _loiter_step member 2016-11-24 19:57:50 +09:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell c87fa13e77 AC_WPNav: added WP_RFND_USE parameter 
allows disable of rangefinder use for terrain following
 2016-08-23 09:27:39 +10:00
Randy Mackay 2dc111ff39 Copter: reduce WPNAV_LOIT_MINA parameter description range 2016-08-01 17:09:20 +09:00
Jonathan Challinger b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00
Daniel Ricketts 8a6aa24525 AC_WPNav: use AC_Avoidance to stop at fence during Loiter 2016-06-22 11:38:15 +09:00
Randy Mackay 2bafc36ded AC_WPNav: support rangefinder for terrain following 2016-05-21 10:36:53 +09:00
Tom Pittenger 684ac12dd6 AC_WPNav: fix compile when using AP_TERRAIN_AVAILABLE 0 2016-05-20 12:29:19 -07:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00