L1_dist can become extremely short for slow moving vehicles leading to unnecessarily jerk turns after passing waypoints. This reduces the minimum length along the track that the vehicle will point.
threading bug fix. When a mission wp updates, but the L1 controller had not yet, the data is stale. Example, On Plane when NAV_LAND starts for a moment your xtrack and bearing is most likely bear zero regardless if you have a big turn or not until 10 Hz later when the update() gets called and updates those values with correct values for the new waypoint.
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.
the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Randy Mackay
Michael du Breuil
Mathieu OTHACEHE
Grant Morphett
Tom Pittenger
Lucas De Marchi
Gustavo Jose de Sousa
Andrew Tridgell