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206 Commits

Author SHA1 Message Date
Randy Mackay 0cf616044c AC_WPNav: ACCEL_C defaults to 2x ACCEL 2024-01-08 19:36:16 +09:00
Randy Mackay 8546dfaf4d AC_WPNav: add force_stop_at_next_wp 2023-12-28 08:45:23 +09:00
Randy Mackay bf2b0f890f AC_WPNav: record next destination 
This allows AC_WPNav_OA to completely restore the path on deactivation
 2023-12-28 08:45:23 +09:00
Randy Mackay 8d8d11a139 AC_WPNav: wpnav speed param check fixed 2023-04-24 13:29:05 +10:00
Leonard Hall 6344faeb29 AC_WPNav: Provide terrain altitude for surface tracking 2023-03-07 13:41:35 +11:00
Leonard Hall be7d550d5e AC_WPNav: Fix Bug to use WPNAV_ACCEL_C 2023-01-28 08:11:51 +09:00
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
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
Randy Mackay 7744dda4b0 AC_WPNav: add comment above get_wp_radius_cm 2022-01-04 16:44:13 +09:00
Iampete1 7ec7b478f0 AC_WPNav: add getter for wp_radius_cm 2021-09-15 20:36:56 +10:00
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
Randy Mackay 28a14b3602 AC_WPNav: move definitions to .cpp file 2021-09-06 16:02:25 +09:00
Randy Mackay af9a91c853 Copter: terrain spelling fix 2021-09-06 16:02:25 +09:00
Randy Mackay ba50f68390 AC_WPNav: terrain spelling fix 2021-09-06 16:02:25 +09:00
Pierre Kancir a7f14efef2 AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-21 19:00:15 +10:00
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
Leonard Hall ce254153c1 WP_Nav: Return Crosstrack error 2021-07-21 15:40:41 +09:00
Peter Barker 2d28c1065e AC_WPNav: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Leonard Hall 59909970fa AC_WPNav: Remove unused function 2021-07-10 20:25:05 +09:00
Randy Mackay 430492469b AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-10 20:25:05 +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
Randy Mackay a79a3d2051 AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-06-18 08:20:02 +09:00
Leonard Hall ccf06f66f7 AC_WPNav: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
chobits 00b44ff6c8 AC_WPNav: remove unused function 2021-05-03 20:10:39 -04:00
Leonard Hall 361ba989bd AC_WPNav: Use Pos_Control Heading 2021-04-27 17:13:55 +09:00
Leonard Hall 939d8e3ed4 AC_WPNav: Support Thrust Vector Control 2021-04-27 17:13:55 +09:00
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
Randy Mackay 79c9b4b523 AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s 2021-03-03 08:03:39 +09:00
Randy Mackay eafd702773 AC_WPNav: add comment clarifying get_wp_destination alt frame 2021-02-11 13:01:37 +09:00
Randy Mackay 530eb6d236 AC_WPNav: remove unused reached_spline_destination 2020-10-07 15:41:18 +09:00
Randy Mackay f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +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
Randy Mackay aeb98c7555 AC_WPNav: integrate OAPathPlanner 
includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
 2019-08-17 09:42:43 +09:00
Randy Mackay 6361a9a204 AC_WPNav: constify get_wp_destination 2019-08-17 09:42:43 +09:00
Rishabh ce48b82500 AC_WPNav: remove brake 2019-06-13 09:02:46 +09:00
Peter Barker f2163fbc24 AC_WPNav: use singleton for getting AC_Avoid instance 2019-06-06 11:47:22 +10:00