Tobias
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c3309d909c
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AC_WPNav: make more member pointers const
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2013-10-27 13:41:29 +09:00 |
Tobias
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bb5cf4a311
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AC_WPNav: make member pointer to AP_InertialNav object const since it's
never modified
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2013-10-27 13:41:23 +09:00 |
Randy Mackay
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45aeb1a921
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Copter: split up loiter into 4 steps
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
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2013-08-28 11:33:10 +09:00 |
Randy Mackay
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6969ab573d
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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
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2013-08-11 12:53:22 +09:00 |
Randy Mackay
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345924ddec
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WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
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2013-07-10 20:00:32 +09:00 |
Randy Mackay
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5d23d5aaa7
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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
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2013-07-10 15:52:18 +09:00 |
Randy Mackay
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649cbf6b68
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WPNav: reduce default WP_ACCEL and LOITER_SPEED
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2013-07-07 16:00:13 -10:00 |
Randy Mackay
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dde19c9585
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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
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2013-06-16 11:40:51 +09:00 |
Randy Mackay
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272f0e5032
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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
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2013-06-15 18:18:30 +09:00 |
Randy Mackay
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7a2afb7443
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Copter Nav: add accessor for waypoint speed
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2013-06-01 18:21:29 +09:00 |
Randy Mackay
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8c4a7ec094
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Copter WPNav: Leonard's improved speed fix
Also pass in althold gain from main code
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2013-05-31 21:03:27 +09:00 |
Randy Mackay
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d203f0295b
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Copter: bug fix for vertical speed during missions
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2013-05-30 11:52:04 +09:00 |
Randy Mackay
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dbd6524f9f
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Copter: WPNav consolidate acceleration #defines
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2013-05-27 10:36:24 +09:00 |
Randy Mackay
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e3dffb920b
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Copter: initialise target vel in loiter
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2013-05-25 14:07:04 +09:00 |
Randy Mackay
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916f241fff
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Copter: Leonard's improved Loiter
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2013-05-24 23:45:03 +09:00 |
Randy Mackay
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cb795ea536
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WPNav: divide by zero checks
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2013-05-15 11:51:26 +09:00 |
Randy Mackay
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61288fcb90
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WPNav: make get_stopping_point method public
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2013-05-11 16:05:42 +09:00 |
Randy Mackay
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ed5ddfd9db
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WPNav: initialise desired roll, pitch
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
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2013-05-09 18:32:02 +09:00 |
Randy Mackay
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9f735c8d03
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WPNav: add fast waypoints flag
Waypoint is considered "reached" when the intermediate point reaches the
destination
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2013-05-09 00:18:02 +09:00 |
Randy Mackay
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4704b729c2
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WPNav: reduce max acceleration to 2.5m/s
Also includes bug fix to ramp up of speed of intermediate point
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2013-05-08 23:20:29 +09:00 |
Randy Mackay
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328d900647
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WPNav: flexible loiter speed
Also includes bug fix to allow speeds > 10m/s during missions
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2013-05-07 17:11:24 +09:00 |
Randy Mackay
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ad01aeee44
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Copter: increase max loiter overshoot to 8.12m
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2013-04-30 18:07:48 +09:00 |
Randy Mackay
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c139134192
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Copter: increase max loiter speed to 7.5m/s
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2013-04-30 12:49:19 +09:00 |
Randy Mackay
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6c081c3def
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AC_WPNav: slow acceleration of intermediate point
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2013-04-30 10:20:23 +09:00 |
Andrew Tridgell
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ad40ba57be
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AC_WPNav: optimise to reduce memory copies
save a few cycles
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
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2013-04-22 12:21:58 +10:00 |
Randy Mackay
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2fc25da4c3
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Copter: Leonard's fix for get_loiter_accel_to_lean_angle
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2013-04-21 16:27:50 +09:00 |
Randy Mackay
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1c046fa49f
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AC_WPNav: increase max descent speed to 1.5m/s
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2013-04-18 22:32:00 +09:00 |
Randy Mackay
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764853bd56
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AC_WPNav: add climb and descent params, dynamic leash length
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2013-04-18 14:51:01 +09:00 |
Randy Mackay
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effd5b0da7
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AC_WPNav: improved comments
Made SPEEDZ a parameter although it's not yet used
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2013-04-18 11:17:41 +09:00 |
Randy Mackay
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8046fe2cf3
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AC_WPNav: increase max accel to 8m/s/s
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2013-04-15 21:57:56 +09:00 |
Randy Mackay
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8fe3e689f4
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Copter: add WPNAV log message
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2013-04-15 21:54:29 +09:00 |
Randy Mackay
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0eab3e87b2
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AC_WPNav: use prev wp as origin for next wp
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2013-04-14 18:27:39 +09:00 |
Randy Mackay
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0351c2ae33
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AC_WPNav: allow setting of horizontal velocity
Also added accessor function for waypoint radius parameter
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2013-04-14 13:24:14 +09:00 |
Randy Mackay
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0ac3762bdd
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AC_WPNav: fix compiler warning
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2013-04-14 10:39:26 +09:00 |
Randy Mackay
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9d7d174995
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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
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2013-04-14 10:39:21 +09:00 |
Randy Mackay
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35001619f0
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AC_WPNav: stop track_desired from moving backwards
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2013-04-14 10:39:19 +09:00 |
Randy Mackay
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c6b68c7843
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AC_WPNav: Leonard's 3d leash calculator
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2013-04-14 10:39:08 +09:00 |
Randy Mackay
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74e1c2e660
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AC_WPNav: advance track fixes
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2013-04-14 10:39:05 +09:00 |
Randy Mackay
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bc87118062
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AC_WPNav: add get_target_alt method
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2013-04-14 10:39:00 +09:00 |
Randy Mackay
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6dbcbdcb43
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AC_WPNav: limit max loiter position error
move interpretation of pilot input to wpnav lib
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2013-04-14 10:38:58 +09:00 |
Randy Mackay
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31838b2865
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AC_WPNAV: change loiter controllers to use floats
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
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2013-04-14 10:38:56 +09:00 |
Randy Mackay
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0ccdce1b22
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AC_WPNav: Leonard's ff loiter and 3d wp nav
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2013-04-14 10:38:43 +09:00 |
Randy Mackay
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926c404994
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AC_WPNav: Leonard's loiter target smoothing
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2013-04-14 10:38:39 +09:00 |
Randy Mackay
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f82ce449d7
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AC_WPNav: add angle limits and set from AC's throttle controller
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2013-04-14 10:38:34 +09:00 |
Randy Mackay
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afd2f82768
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AC_WPNav: bug fix for track covered being 2D
Replaced abs and fabs with fabsf
Added get_destination method
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2013-04-14 10:38:32 +09:00 |
Randy Mackay
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8ec7fd1c9c
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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.
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2013-04-14 10:38:25 +09:00 |
Randy Mackay
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3bfcc3b8d0
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AC_WPNav: replace get_target_alt with get_destination_alt
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2013-04-14 10:38:13 +09:00 |
Randy Mackay
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c40080e76a
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AC_WPNav: added set_target_alt
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2013-04-14 10:38:04 +09:00 |
Randy Mackay
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60060d8184
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AC_WPNav: add get_target_alt
Required because waypoint controller will be modified to control
altitude
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2013-04-14 10:37:58 +09:00 |
Randy Mackay
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0d70ba1030
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AC_WPNav: bug fix to dt calculation
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2013-04-14 10:37:51 +09:00 |