Commit Graph

15 Commits

Author SHA1 Message Date
Lucas De Marchi 7ad0036a11 AP_L1_Control: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Andrew Tridgell 640332113c AP_L1_Control: calculate dt for crosstracking 2016-01-19 11:05:56 +11:00
Jonathan Challinger f0f5239d8f AP_L1_Control: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Tom Pittenger 695efb8df3 AP_L1_Control: added integrator to help xtrack error converge to zero
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.
2015-10-21 12:49:43 +11:00
Gustavo Jose de Sousa 4278bfcec5 AP_L1_Control: standardize inclusion of libaries headers
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.
2015-08-11 16:28:44 +10:00
Andrew Tridgell 5a1aa8dfe7 AP_L1_Control: implement turn_distance() with turn angle
uses a linear approximation for now.
2014-06-05 09:34:23 +10:00
Paul Riseborough 49fe7fea07 L1_Control : Added hysteresis for rear WP capture 2013-11-09 15:40:14 +11:00
Andrew Tridgell 341dca4dfe AP_L1_Control: added set_default_period()
used by the rover code
2013-09-09 19:55:53 +10:00
Andrew Tridgell 31fce44063 AP_L1_Control: use a reference to AHRS
makes code a bit simpler
2013-08-13 13:49:26 +10:00
Andrew Tridgell b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions
not needed any more
2013-08-13 12:07:35 +10:00
Andrew Tridgell 953051b49e AP_L1_Control: added lateral acceleration interface
this will be used by the Rover code for steering
2013-08-12 13:38:38 +10:00
Andrew Tridgell 86db955ac9 AP_L1_Control: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell 9654546b5a AP_L1_Control: Cleaned up calculation of damping to reduce computations
also removed _cross2D, using math library instead
2013-05-05 21:51:08 +10:00
Andrew Tridgell 571c48b9d5 L1_Control: cleanup some unused code and variables 2013-04-15 10:52:32 +10:00
Brandon Jones a3c2851120 AP_L1_Control: Addition of library for geometry calculations required for L1 Control.
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>
2013-04-12 12:48:09 +10:00