Commit Graph

93 Commits

Author SHA1 Message Date
Randy Mackay 6af705d455 AC_Circle: bug fix for pos target when radius is zero 2014-02-16 13:46:38 +11:00
Randy Mackay bf3effcd10 AC_WPNav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay fbf8106280 AC_Circle: remove AC_PID include
This is no longer required with introduction of PosControl lib
2014-02-15 06:09:08 +11:00
Randy Mackay e86a21a254 AC_WPNav: remove AC_PID include
This is no longer required with introduction of PosControl lib
2014-02-15 06:09:08 +11:00
Randy Mackay 9e31f0b985 AC_WPNav: use PosControl accessor
Saves 2bytes of RAM
2014-02-15 05:27:50 +11:00
Randy Mackay 598a1b1f43 AC_Circle: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 64cfcb2308 AC_WPNav: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 17177adccf AC_Circle: remove debug comment 2014-02-15 05:27:46 +11:00
Randy Mackay 864f64b61a AC_Circle: circle control library 2014-02-15 05:27:40 +11:00
Randy Mackay d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point
Also bug fix to set pos_control's down speed as a negative number
2014-02-15 05:27:39 +11:00
Randy Mackay 4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay 1596d83d02 AC_WPNav: move leashes to AC_PosControl 2014-02-15 05:27:37 +11:00
Randy Mackay 0d4ba04e75 AC_WPNav: make advance_wp_target private 2014-02-15 05:27:37 +11:00
Randy Mackay 0c8cbba644 AC_WPNav: remove xy pos controller 2014-02-15 05:27:36 +11:00
Randy Mackay 2984e492df AC_WPNav: add reference to AC_PosControl
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
2014-02-15 05:27:35 +11:00
Randy Mackay c9415a08f1 AC_WPNav: use ahrs trig values 2014-02-08 18:16:47 +09:00
Randy Mackay 0a3559813a AC_WPNav: accessor for loiter speed 2014-01-15 15:22:30 +09:00
Andrew Tridgell 29b37b72e4 AC_WPNAV: fixed example build 2013-12-17 11:51:37 +11:00
Randy Mackay 5767aa47d9 AC_WPNav: reduce leash length for stopping
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x.  This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
2013-12-13 22:12:30 +09:00
Randy Mackay 952afd296e Copter: initialise waypoint leash length
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
2013-12-12 16:23:37 +09:00
Andrew Tridgell 30fffa5854 AC_WPNav: fixed some build warnings 2013-12-11 10:21:41 +11:00
Tobias c3309d909c AC_WPNav: make more member pointers const 2013-10-27 13:41:29 +09:00
Tobias bb5cf4a311 AC_WPNav: make member pointer to AP_InertialNav object const since it's
never modified
2013-10-27 13:41:23 +09:00
Tobias 1ecb583dd9 AC_WPNav: replace unnecessary objects with const refs 2013-10-27 13:40:53 +09:00
Andrew Tridgell e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
2013-08-28 11:33:10 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
2013-08-11 12:53:22 +09:00
Andrew Tridgell 82152c058e AC_WPNav: disabled broken example build
this test doesn't actually do anything yet
2013-07-15 14:09:48 +10:00
Randy Mackay bf5a50f738 WPNav: stopping point projection uses wp_leash 2013-07-11 11:39:44 +09:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
2013-07-10 20:00:32 +09:00
Randy Mackay 204f613467 WPNav: bug fix to reported distance to target
This value is for reporting purposes only
2013-07-10 18:21:08 +09:00
Randy Mackay 518eba0729 WPNav: bug fix to loiter accel calculation
Contribution from Leonard Hall
2013-07-10 17:52:12 +09:00
Randy Mackay c4f17b3235 WPNav: rounding error fix in loiter
Contributed by Leonard Hall
2013-07-10 16:24:37 +09:00
Randy Mackay 5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
2013-07-10 15:52:18 +09:00
Randy Mackay 649cbf6b68 WPNav: reduce default WP_ACCEL and LOITER_SPEED 2013-07-07 16:00:13 -10:00
Randy Mackay dde19c9585 WPNav: add acceleration parameter
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
2013-06-16 11:40:51 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
2013-06-15 18:18:30 +09:00
Randy Mackay 7a2afb7443 Copter Nav: add accessor for waypoint speed 2013-06-01 18:21:29 +09:00
Randy Mackay 89bbf5844f Copter WPNav: remove unused variable 2013-05-31 21:41:32 +09:00
Randy Mackay 8c4a7ec094 Copter WPNav: Leonard's improved speed fix
Also pass in althold gain from main code
2013-05-31 21:03:27 +09:00
Randy Mackay a1926441da Copter: use fast tan for accel to lean angle calcs
Committed on behalf of Leonard
2013-05-30 18:25:04 +09:00
Randy Mackay d203f0295b Copter: bug fix for vertical speed during missions 2013-05-30 11:52:04 +09:00
Randy Mackay dbd6524f9f Copter: WPNav consolidate acceleration #defines 2013-05-27 10:36:24 +09:00
Randy Mackay e3dffb920b Copter: initialise target vel in loiter 2013-05-25 14:07:04 +09:00
Randy Mackay a474b97291 Copter: resolve compiler warning re unused vars 2013-05-25 13:32:15 +09:00
Randy Mackay 916f241fff Copter: Leonard's improved Loiter 2013-05-24 23:45:03 +09:00
Randy Mackay 46d65150af Copter: lengthen loiter stopping point
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
2013-05-22 17:35:20 +09:00
Randy Mackay 400c1bd7b7 Copter: smooth waypoint transitions
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
2013-05-22 14:17:26 +09:00
Randy Mackay cb795ea536 WPNav: divide by zero checks 2013-05-15 11:51:26 +09:00