Andrew Tridgell
b2ad43f625
Plane: removed ahrs.set_barometer()
2013-04-15 10:52:32 +10:00
Andrew Tridgell
cf6ae4a746
Copter: remove ahrs.set_barometer()
2013-04-15 10:52:32 +10:00
Andrew Tridgell
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
...
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
2013-04-15 10:52:31 +10:00
Andrew Tridgell
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
...
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
2013-04-15 10:52:31 +10:00
Randy Mackay
8c7a1597dc
Copter: remove debug comment from RTL
2013-04-14 18:28:13 +09:00
Randy Mackay
0eab3e87b2
AC_WPNav: use prev wp as origin for next wp
2013-04-14 18:27:39 +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
0351c2ae33
AC_WPNav: allow setting of horizontal velocity
...
Also added accessor function for waypoint radius parameter
2013-04-14 13:24:14 +09:00
Randy Mackay
b58c26bcd5
Copter: remove pid_nav_lat, pid_nav_lon
2013-04-14 12:12:51 +09:00
Randy Mackay
bffe4fa412
Copter: remove NAV_LAT and NAV_LON
...
Loiter and navigation controllers now combined
2013-04-14 12:09:45 +09:00
Randy Mackay
7d39b76fde
autotest: add arducopter sim script for Randy
2013-04-14 11:43:18 +09:00
Randy Mackay
252e98ec57
AC_WPNav: use global gravity constant
2013-04-14 10:39:32 +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
366616e32c
Copter: reduce default loiter PIDs
2013-04-14 10:39:28 +09:00
Randy Mackay
0ac3762bdd
AC_WPNav: fix compiler warning
2013-04-14 10:39:26 +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
9d7d174995
AC_WPNAV: check distance to waypoint within library
...
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
2013-04-14 10:39:21 +09:00
Randy Mackay
35001619f0
AC_WPNav: stop track_desired from moving backwards
2013-04-14 10:39:19 +09:00
Randy Mackay
c6b68c7843
AC_WPNav: Leonard's 3d leash calculator
2013-04-14 10:39:08 +09:00
Randy Mackay
74e1c2e660
AC_WPNav: advance track fixes
2013-04-14 10:39:05 +09:00
Randy Mackay
2db8365c90
Copter: add AC_WPNav to parameters list
2013-04-14 10:39:02 +09:00
Randy Mackay
bc87118062
AC_WPNav: add get_target_alt method
2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43
AC_WPNav: limit max loiter position error
...
move interpretation of pilot input to wpnav lib
2013-04-14 10:38:58 +09:00
Randy Mackay
31838b2865
AC_WPNAV: change loiter controllers to use floats
...
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
2013-04-14 10:38:56 +09:00
Randy Mackay
7c559333f5
Copter: get_throttle_rate's target_speed a float
2013-04-14 10:38:51 +09:00
Randy Mackay
0ccdce1b22
AC_WPNav: Leonard's ff loiter and 3d wp nav
2013-04-14 10:38:43 +09:00
Randy Mackay
926c404994
AC_WPNav: Leonard's loiter target smoothing
2013-04-14 10:38:39 +09:00
Randy Mackay
ee7f40cfe9
Copter: Leonard's alt-hold feed forward
2013-04-14 10:38:37 +09:00
Randy Mackay
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
2013-04-14 10:38:34 +09:00
Randy Mackay
afd2f82768
AC_WPNav: bug fix for track covered being 2D
...
Replaced abs and fabs with fabsf
Added get_destination method
2013-04-14 10:38:32 +09:00
Randy Mackay
553f40a99c
Copter: bug fix to loiter delay
...
change delay to seconds to allow delays longer than 65seconds
2013-04-14 10:38:30 +09:00
Randy Mackay
a65960a009
Copter: use velocity based set_loiter_target
2013-04-14 10:38:28 +09:00
Randy Mackay
8ec7fd1c9c
AC_WPNav: add set_loiter_target to use velocity
...
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
2013-04-14 10:38:25 +09:00
Randy Mackay
fc972e2d42
InertialNav: add get_velocity method
2013-04-14 10:38:23 +09:00
Randy Mackay
e592baae11
Copter: remove remnants of fast_corner
2013-04-14 10:38:20 +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
3bfcc3b8d0
AC_WPNav: replace get_target_alt with get_destination_alt
2013-04-14 10:38:13 +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
c40080e76a
AC_WPNav: added set_target_alt
2013-04-14 10:38:04 +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
60060d8184
AC_WPNav: add get_target_alt
...
Required because waypoint controller will be modified to control
altitude
2013-04-14 10:37:58 +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
0d70ba1030
AC_WPNav: bug fix to dt calculation
2013-04-14 10:37:51 +09:00
Randy Mackay
49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
Randy Mackay
39bc3800c9
AC_WPNav: add distance and bearing to target methods
2013-04-14 10:34:50 +09:00
Randy Mackay
b92c4097d2
AC_WPNav: first implementation
2013-04-14 10:34:47 +09:00
Andrew Tridgell
8d2cf6f3e5
Plane: update author list
2013-04-12 22:01:41 +10:00
priseborough
70a186464b
Plane: added LEVEL_ROLL_LIMIT parameter
...
this replaces both TKOFF_HEAD_HOLD and RUDDER_STEER, allowing users to
instead select a roll limit for takeoff and landing
2013-04-12 21:59:52 +10:00
Andrew Tridgell
575f346e85
Plane: removed HIL_MODE_ATTITUDE
...
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
2013-04-12 17:44:40 +10:00
Andrew Tridgell
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
2013-04-12 14:30:35 +10:00
