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204 Commits

Author SHA1 Message Date
Andrew Tridgell 33c7432e97 AC_WPNav: fixed example build 2014-10-24 12:10:40 +11:00
Randy Mackay e80328d3a5 AC_WPNav: bug fix sanity check of set_speed_xy 
This corrects a bug that allowed the waypoint speed to be set to zero
 2014-10-21 22:10:22 +09:00
Randy Mackay dbe1c55666 AC_WPNav: add shift_wp_origin_to_current_pos for takeoff 
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
 2014-09-29 15:26:18 +09:00
Randy Mackay 765420ee04 AC_WPNav: add loiter_soften_for_landing method 
This resets the position target to the current location.
 2014-09-19 16:43:10 +09:00
Randy Mackay ad37fc0408 AC_WPNav: WP_SPEED_DN parameter range to 0~500 
Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
 2014-09-18 10:44:33 +09:00
Randy Mackay 1c6606cc58 AC_WPNav: resolve twitch when passing spline waypoints 
The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
 2014-08-28 11:00:51 +09:00
Randy Mackay 3fd2b3b4a1 AC_WPNav: init members to resolve compiler warnings 2014-08-14 11:27:30 +09:00
Andrew Tridgell 759a55d633 AC_WPNav: fixed example build 2014-08-13 21:45:56 +10:00
Randy Mackay 053a45e9cf AC_WPNav: fix example sketch 2014-07-29 12:01:09 +09:00
Andrew Tridgell 7f7a0db2d3 AC_WPNav: fixed example build 2014-07-25 17:53:58 +10:00
Randy Mackay 52d5109a6c AC_Circle: initialise members to reduce compiler warnings 2014-07-16 14:38:34 +09:00
Randy Mackay 2b64c511ed AC_WPNav: update yaw only when track is at least 2m 2014-07-06 17:02:12 +09:00
Randy Mackay c9661cfb09 AC_WPNav: integrate set_desired_velocity_xy function name change 2014-07-06 17:01:10 +09:00
Randy Mackay a2f54fdf2c AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot 
First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint".  Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
 2014-06-10 20:03:01 +09:00
Randy Mackay ce85d1f6b2 AC_WPNav: use curr pos target as spline origin 
We only use the current target position as origin if the waypoint
controller is active (i..e has been used in the past 1 second).  This is
consistent with how we initialise straight line waypoints
 2014-06-10 20:02:59 +09:00
lthall 8bbce7e658 AC_PosControl: freeze feed forward for alt control in Auto 2014-06-10 20:02:36 +09:00
Randy Mackay 915dad2da4 AC_Circle: use fast_atan2 to calc bearing from center 
This does not save much time because it's only called at initialisation
 2014-06-06 18:51:09 +09:00
Randy Mackay f23e94707c AC_WPNav: use fast_atan2 for bearing calcs 2014-06-06 18:51:08 +09:00
Randy Mackay efd6d6dc70 AC_WPNav: spline div by zero fix 
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
 2014-06-05 22:23:38 +09:00
lthall 0912bec8f5 Spline div zero and leash limit fix 2014-06-05 22:23:35 +09:00
Randy Mackay cde7d31dad AC_WPNav: fix divide by zero when origin and dest are same location 2014-05-22 21:18:24 +09:00
Randy Mackay 597d5227f5 AC_WPNav: rename set_loiter_target to init_loiter_target 2014-05-19 12:27:25 +09:00
Randy Mackay e7b3c00767 AC_WPNav: set_loiter_target uses set_xy_target 
Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
 2014-05-19 12:27:20 +09:00
Ju1ien aed5787c1b AC_WPNav: bug fix for loiter init in Hybrid 
AC_PosControl::init_xy_controller() has been added to PosControl and is
called by init_loiter_target.
Hybrid is currently using set_loiter_target function to init the loiter
controller. So we have to call init_xy_controller() by set_loiter_target
function.
What happens otherwise?
In AC_PosControl::update_xy_controller, we update "now" with
now = hal.scheduler->millis();
and, as _last_update_xy_ms has not been updated previously by
init_xy_controller(), we just call init_xy_controller().
So, _dt_xy  will be negative and used anyways in all the functions and
PID called by update_xy_controller.
That will avoid at least _accel_target.x/y to be set to 0 but I'm not
sure for the high values, probably an I_term that is not reset and
reached very high value.
Or maybe a cast error somewhere... no clue at all
 2014-05-19 12:27:16 +09:00
Randy Mackay 5d20594fa4 AC_WPNav: bug fix for loiter and waypoint update rate 
Thanks to EmileC for spotting this
 2014-05-12 20:13:46 +09:00
Randy Mackay badc127c34 AC_WPNav: fix example sketch 2014-05-08 16:25:13 +09:00
lthall 9ab9eaec25 AC_WPNav: Loiter jerk default to 10m/s/s/s 
Pair programmed with Randy
 2014-05-08 16:16:05 +09:00
Randy Mackay 1cb297580f Copter: reduce Circle init twitch by using stopping point 2014-05-08 16:15:57 +09:00
Randy Mackay 091ff91a70 WPNav: add wp_and_spline_init to set speeds an init pos controller 2014-05-08 16:15:50 +09:00
Randy Mackay 48ec0caf75 AC_WPNav: run navigation at 10hz in SITL 2014-05-08 16:15:44 +09:00
lthall b38c484874 AC_WPNav: add LOIT_JERK parameter 
Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero

Pair programmed with Randy
 2014-05-08 16:15:38 +09:00
Randy Mackay fd9f8f571f AC_WPNav: replace inav, ahrs pointers with references 2014-05-08 16:15:26 +09:00
Randy Mackay 7dd366d84e AC_WPNav: init_loiter sets speed, accel before calcing stopping distance 
The stopping distance depends upon the speed and acceleration so these
must be updated first
 2014-04-30 21:46:18 +09:00
Randy Mackay 0103ae2eb0 AC_WPNav: add WPNAV_ACCEL_Z 
Allows configurable z-axis acceleration during missions
 2014-04-30 21:46:12 +09:00
Randy Mackay 510c9920a6 AC_WPNav: rename get_horizontal_velocity to get_speed_xy 
This new method name is consistent with the equivalent in the
AC_PosControl class
 2014-04-30 21:46:06 +09:00
Randy Mackay db51d37071 AC_WPNav: add clear_pilot_desired_acceleration 
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
 2014-04-25 14:45:14 +09:00
Randy Mackay ad99918fee AC_WPNav: recalc leash lengths if set_horizontal_velocity is called 
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
 2014-04-24 13:16:08 +09:00
Randy Mackay 46fba47c8e AC_WPNav: slow target point's speed near destination 2014-04-24 13:16:00 +09:00
Randy Mackay 7c02a02bd8 AC_WPNav: reset_I flag moved to position controller 2014-04-23 15:00:14 +09:00
Randy Mackay 4d5b73b968 AC_WPNav: add reset_I to set_loiter_target 2014-04-23 15:00:07 +09:00
Ju1ien 5d0476e522 AC_WPNav: add reset_I to init_loiter_target 2014-04-23 14:59:47 +09:00
Randy Mackay 559a258ede AC_WPNav: bug fix to limit target point from moving beyond leash 
Also pull Z-axis acceleration from position controller instead of using
#define
 2014-04-22 23:05:11 +09:00
Randy Mackay 648787a6c8 AC_WPNav: rename some definitions 2014-04-21 15:06:29 +09:00
Randy Mackay 2167dd7d3e AC_WPNav: update target speed immediately 2014-04-21 14:51:26 +09:00
Randy Mackay d382fa51ee AC_WPNav: run loiter and wp nav at 50hz on Pixhawk 2014-04-21 13:32:02 +09:00
Randy Mackay 72d2712c4e AC_WPNav: integrate update_xy_controller name change 2014-04-21 13:31:58 +09:00
Randy Mackay 966340a02a Circle: integrate update_xy_controller name change 2014-04-21 13:31:57 +09:00
Randy Mackay 94d38ee294 AC_Circle: add get_closest_point_on_circle 
init_start_angle method added to use current heading or position to
decide on initial start angle
 2014-04-16 16:28:04 +09:00
Randy Mackay 60f522a094 AC_WPNav: set_wp_destination to use current target 
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
 2014-04-13 22:42:50 +09:00
Randy Mackay 15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Randy Mackay b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +09:00
Randy Mackay d27ca53a9d AC_WPNav: spline sets origin vel to zero when no prev segment 
Issue caught by Michael Oborne
 2014-03-30 15:19:18 +09:00
Randy Mackay 7dfde39e19 AC_WPNav: advance_spline to use dt 2014-03-30 15:02:07 +09:00
Randy Mackay c0458b786a AC_WPNav: check acceleration is non zero 2014-03-30 11:52:44 +09:00
Randy Mackay f0f3688172 AC_WPNav: rounder corners for short spline segments 2014-03-30 11:52:41 +09:00
Randy Mackay 197683d539 WPNav: clean up spline comments 2014-03-29 17:57:47 +09:00
Randy Mackay 24eb195aa3 WPNav: add yaw control for straight line wp nav 2014-03-28 09:23:13 +09:00
Randy Mackay b42b12f7be AC_WPNav: add get_spline_yaw 2014-03-28 09:23:07 +09:00
Randy Mackay e5e71ce371 WPNav: add spline support 2014-03-28 09:22:53 +09:00
Andrew Tridgell 04587efb2d AC_WPNav: fixed example build 2014-03-19 12:14:00 +09:00
Randy Mackay 98bdbb7fed AC_WPNav: set loiter accel to 1/2 of speed 
Bug fix from Leonard.
Also fixed some formatting.
 2014-02-20 21:37:45 +09:00
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