Andrew Tridgell
82c604dd67
Copter: more constrain fixes
2013-04-22 13:26:49 +10:00
Randy Mackay
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
Randy Mackay
0b808abbed
Copter: remove unused waypoint_valid function
2013-04-17 21:28:43 +09:00
Randy Mackay
8fe3e689f4
Copter: add WPNAV log message
2013-04-15 21:54:29 +09:00
Randy Mackay
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
Randy Mackay
700fb1b179
Copter: replace sin_yaw_y, cos_yaw_x in circle mode
2013-04-14 10:39:30 +09:00
Randy Mackay
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
Randy Mackay
a65960a009
Copter: use velocity based set_loiter_target
2013-04-14 10:38:28 +09:00
Randy Mackay
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
2013-04-14 10:38:07 +09:00
Randy Mackay
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
Randy Mackay
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
2013-04-14 10:37:55 +09:00
Randy Mackay
49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
Randy Mackay
cdb532a594
Copter: bug fix for loiter target
2013-04-11 18:24:20 +09:00
Randy Mackay
95d944f610
Copter: Jason's bug fix for loiter's set_next_WP_latlon
2013-04-05 13:46:07 +09:00
Randy Mackay
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
2013-04-05 11:48:41 +09:00
Andrew Tridgell
b280857025
Copter: use common angle wrap code
2013-03-29 13:14:31 +11:00
Randy Mackay
61e29173e3
Copter: remove unused crosstrack variables and parameters
...
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
2013-03-17 16:46:31 +09:00
Randy Mackay
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
2013-03-16 17:27:46 +09:00
Randy Mackay
5380973225
Copter: only start delay timer after reaching wp location and altitude
2013-03-06 12:50:41 +09:00
Randy Mackay
e0506bd622
Copter: inav circle initial implementation
2013-02-26 11:35:35 +09:00
Randy Mackay
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
Randy Mackay
6f27bc7ae5
Copter: remove filters from inav loiter
2013-02-24 14:41:44 +09:00
Randy Mackay
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
...
small corrections to allow waypoints to work with new inertial nav wp
controller
2013-02-24 14:41:40 +09:00
Randy Mackay
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
Randy Mackay
37d3e1d7e4
Copter: add zero slope checks to wpinav
...
also added RTL fix to set wpinav target explicitly
2013-02-24 14:41:25 +09:00
Randy Mackay
53ab1d5d9b
Copter: add advance track call to actually move towards waypoint
...
Also added unrelated check that waypoint is valid before updating
waypoint distance.
2013-02-24 14:41:17 +09:00
Randy Mackay
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
Randy Mackay
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
Randy Mackay
aaecc25ac7
Copter: leonard's inav2
...
Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
Randy Mackay
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
...
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
Robert Lefebvre
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Randy Mackay
04677bfb95
Copter: constrain auto roll and pitch to 45 degrees
2013-01-15 12:17:32 +09:00
jschall
d6b3d370c3
Correct spelling of run_navigation_contollers
2013-01-14 16:45:15 -08:00
Randy Mackay
df2137ed72
Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions
2013-01-14 13:34:19 +09:00
Andrew Tridgell
860f4b2605
Copter: merge the latest 2.9 changes into master
2013-01-08 14:37:40 -08:00
rmackay9
576af6d487
ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan.
2013-01-02 09:55:37 +11:00
rmackay9
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2013-01-02 09:24:31 +11:00
Craig@3DR
e350bfbba8
Removed 2 more degree symbols from comments
2013-01-02 09:20:08 +11:00
Robert Lefebvre
6e64b1b357
ACM: Precision Loiter RePositioning code.
...
Protected behind a #define
2013-01-02 09:19:39 +11:00
rmackay9
7a5e4b8549
ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log
2013-01-02 09:19:17 +11:00
rmackay9
4dfe3a2d73
ArduCopter: remove weird character from navigation.pde
2013-01-02 09:11:25 +11:00
Jason Short
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
rmackay9
dadad8677e
ArduCopter: added descriptions for most parameters that did not have them
...
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
rmackay9
f522ef078e
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
rmackay9
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
8c2423f618
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
...
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
