Leonard Hall
6344faeb29
AC_WPNav: Provide terrain altitude for surface tracking
2023-03-07 13:41:35 +11:00
Leonard Hall
ed24a635c6
AC_WPNav: Add corner acceleration limit parameter
2022-12-30 17:03:32 +09:00
Leonard Hall
638379d3ed
AC_WPNav: remove _wp_accel_cmss.set_and_save_ifchanged
2022-12-30 15:16:08 +09:00
Andrew Tridgell
f824be726c
AC_WPNav: use angle/accel functions
2022-03-18 13:36:16 +11:00
Leonard Hall
289b1ca75a
AC_WPNav: Support pause
2022-03-08 13:12:36 +09:00
Leonard Hall
0ce44ad1ba
AC_WPNav: init optionally accepts stopping point
2022-03-07 16:14:23 +09:00
Leonard Hall
93aea67810
AC_WPNav: Increase corner speeds
2022-03-05 11:34:40 +09:00
Leonard Hall
5fa37e253e
AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints
2022-03-05 11:34:40 +09:00
Leonard Hall
30ddc4e06c
AC_WPNav: Support error input to kinematic shaper
2021-12-07 09:47:42 +09:00
Josh Henderson
e10edabd5d
AC_WPNav: INAV rename for neu & cm/cms
2021-11-30 10:08:07 +11:00
Josh Henderson
9e11f09a7f
AC_WPNav: inav use _xy()
2021-11-30 10:08:07 +11:00
Josh Henderson
d5769f70ac
AC_WPNav: get_bearing & get_horizontal_distance use Vector2f
2021-11-30 10:08:07 +11:00
Leonard Hall
8c51271b45
AC_WPNav: Add units to the AC_AttitudeControl Library
2021-09-09 08:01:14 +09:00
Leonard Hall
7852e9d1b0
AC_WPNav: Fix calculation of _scurve_jerk_time using radians.
2021-09-09 08:01:14 +09:00
Peter Barker
8a3a787b76
AC_WPNav: honour changes to wp-speed-up and wp-speed-down in-flight
2021-09-08 21:29:38 +10:00
Andrew Tridgell
9342ded2bb
AC_WPNav: cope with negative WPNAV_SPEED_DN
...
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
2021-09-07 18:55:00 +09:00
Peter Barker
ec53a41ffd
AC_WPNav: monitor WPNAV_SPEED for changes
2021-09-07 10:04:07 +09:00
Josh Henderson
a91c0f4b12
AC_WPNav: simplify get_wp_destination_loc
2021-09-07 08:02:18 +09:00
Randy Mackay
8a5ade1f46
AC_WPNav: protect against divide-by-zero
2021-09-06 16:02:25 +09:00
Randy Mackay
28a14b3602
AC_WPNav: move definitions to .cpp file
2021-09-06 16:02:25 +09:00
Randy Mackay
ba50f68390
AC_WPNav: terrain spelling fix
2021-09-06 16:02:25 +09:00
Leonard Hall
520883b504
AC_WPNav: Fix Jerk units
2021-08-26 12:22:52 +09:00
Leonard Hall
a1b47f36ef
AC_WPNav: support Control: Refactor to use Jerk
2021-08-11 17:07:29 +09:00
Leonard Hall
32b2510893
AC_WPNav: Fix Angle Vel units on function
2021-08-11 17:07:29 +09:00
Randy Mackay
c55c160f48
AC_WPNav: use get_terrain_margin instead of constant
2021-07-21 16:03:44 +09:00
Randy Mackay
fb5c458132
AC_WPNav: add TER_MARGIN param
2021-07-21 16:03:44 +09:00
Leonard Hall
5dcfee07d9
AC_WPNav: Auto Terain following update
2021-07-21 16:03:44 +09:00
Peter Barker
2d28c1065e
AC_WPNav: use singleton to access AP_Terrain data
2021-07-12 17:34:44 +10:00
Leonard Hall
7bc6c19306
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-10 20:25:05 +09:00
Leonard Hall
620d066a2e
AC_WPNav: move code to generate terrain following kinematic path
2021-07-10 20:25:05 +09:00
Leonard Hall
fcde1e7370
AC_WPNav: use shaping_tc_z_s for terrain following time constant.
2021-06-25 16:54:05 +09:00
Andrew Tridgell
1d00cab9e6
AC_WPNav: convert circle, loiter and WPNav to double position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
bf91168cd6
AC_WPNav: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Josh Henderson
757fc1d679
AC_WPNav: ensure that wp_radius greater than min
...
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
2021-06-09 10:55:15 +09:00
Leonard Hall
166f059fc2
AC_WPNav: Fix before squash
2021-05-24 20:13:37 +10:00
Leonard Hall
538d8f82fb
AC_WPNav: PosControl fixes
2021-05-24 20:13:37 +10:00
chobits
00b44ff6c8
AC_WPNav: remove unused function
2021-05-03 20:10:39 -04:00
Randy Mackay
a3ceb6d95b
AC_WPNav: fix spline initialisation of terrain offset
2021-04-28 10:18:04 +09:00
Leonard Hall
361ba989bd
AC_WPNav: Use Pos_Control Heading
2021-04-27 17:13:55 +09:00
Randy Mackay
b81930885c
AC_WPNav: remove unnecessary assignment and constify local vars
2021-04-21 10:41:28 +10:00
Randy Mackay
bebb7e7d8f
AC_WPNav: removed unused enums
2021-04-21 10:41:28 +10:00
chobits
fd88e53be6
AC_WPNav: remove unassigned _track_desired
2021-04-08 16:13:51 +09:00
Randy Mackay
2201450180
AC_WPNav: renames and comment fixes
2021-04-03 12:07:59 +09:00
Randy Mackay
85b24cf641
AC_WPNav: fix get_wp_destination_loc
...
was incorrectly adding alt-above-terrain as if it was alt-above-ekf-origin
also fixup comments
2021-04-03 12:07:59 +09:00
Leonard Hall
32c27b32aa
AC_WPNav: support for SCurve navigation
...
set_wp_destination clear yaw target
limit velocity and acceleration based on track slope
add is_active() and remove unused reached_spline_destination
init accepts desired speed
set_kinematic_limits uses current speed limits instead of defaults
add time compression to prevent target moving too fast for air
implement alternative spline
remove vel-target-length
set_wp_destination always calculates this leg
set_kinematic_limits moved to scurve
fix origin speed after spline segment
spline terrain following fix
handle s-curves with mismatching alt types
fix set_spline_destination_next
add update_track_with_speed_accel_limits
Change to next waypoint at corner apex
use scurve advance along track
remove unused definitions and out-of-date todo
set_spline_destination_next sets fast_waypoint
scurve origin speed set from spline target velocity
fixup takeoff delay
2021-04-03 12:07:59 +09:00
Leonard Hall
25f1a4a4e1
AC_WPNav: add shift_wp_origin_to_current_pos_xy
...
also add shift_wp_origin_and_destination_to_stopping_point_xy
2020-03-11 10:39:18 +09:00
bnsgeyer
593ff6818d
AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL
...
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
Changed at Leonard's request to keep things simpler
2020-02-22 08:53:41 +09:00
Randy Mackay
3ca28e27c6
AC_WPNav: add get_terrain_source and rename existing method
...
this allows RTL to determine which source of terrain data will be used which is required when building the return path
2019-12-17 20:02:01 +09:00
Peter Barker
56de1f2eed
AC_WPNav: do not calculate NEU vector from invalid location
2019-09-17 09:05:23 +09:00
Randy Mackay
6361a9a204
AC_WPNav: constify get_wp_destination
2019-08-17 09:42:43 +09:00
