Peter Barker
2c962afe98
AC_WPNav: add get_wp_destination to get a Location_Class for the wp
2018-05-18 20:26:37 +10:00
murata
494735db2e
AC_WPNav: Change the variable name according to the unit.
2018-05-14 16:38:47 +09:00
Randy Mackay
f6cf52a748
AC_Loiter: move defines to cpp
2018-04-04 10:45:10 +09:00
Randy Mackay
757a35f3ba
AC_Loiter: consolidate sanity checks
2018-04-04 10:45:10 +09:00
Randy Mackay
9de73a994f
AC_Circle: add get distance and bearing to target
2018-04-04 10:45:10 +09:00
Randy Mackay
9426ee6df6
AC_WPNav: remove loiter
...
Loiter is in separate AC_Loiter class
2018-04-04 10:45:10 +09:00
Randy Mackay
0ba22a1feb
AC_WPNav: remove brake dependency on loiter
2018-04-04 10:45:10 +09:00
Randy Mackay
cc5ad7c004
AC_Loiter: loiter extracted from AC_WPNav
2018-04-04 10:45:10 +09:00
Randy Mackay
032b4373f6
AC_WPNav: removed brake's unused dt calc
2018-03-31 13:42:59 +09:00
Randy Mackay
5215588ba0
AC_WPNav: remove unused set_desired_alt
...
also remove unused get_desired_alt
2018-03-28 15:08:42 +09:00
Randy Mackay
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
2018-03-16 13:50:57 +09:00
Randy Mackay
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
2018-03-16 13:50:57 +09:00
Leonard Hall
a356cfa529
AC_Circle: init resets desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
2018-03-16 13:50:57 +09:00
Leonard Hall
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
2018-03-16 13:50:57 +09:00
Leonard Hall
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
2018-03-16 13:50:57 +09:00
Leonard Hall
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
2018-03-16 13:50:57 +09:00
Randy Mackay
f189ce5c68
AC_WPNav: minor formatting fix
...
non-functional change
2018-02-02 20:55:20 +09:00
Randy Mackay
efbd8eb386
AC_WPNav: remove unused definition
...
This has been moved to AC_PosControl library
2018-01-23 12:00:43 +09:00
Randy Mackay
368245017a
AC_WPNav: access pos-controller's horizontal p object
2018-01-23 12:00:43 +09:00
Randy Mackay
094620bc8a
AC_WPNav: pass dt to avoidance
2018-01-16 12:13:48 +09:00
Randy Mackay
4d0c24f4eb
AC_WPNav: RFND_USE param desription update
2018-01-12 16:50:00 +09:00
Peter Barker
dff27ec506
AC_WPNav: correct call for getting location vector
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Function has been renamed and only takes a Vector2f
2017-12-15 01:24:13 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
1a512609ac
AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead
2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
07c8d208bc
AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC)
2017-12-05 08:54:49 +09:00
Leonard Hall
e49d29f8cd
AC_WPNav: protect against divide by zero
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This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
2017-11-23 21:24:28 +09:00
squilter
da7aa36f2d
AC_WPNav: add set_wp_destination_NED to accept target in meters NED
2017-09-09 14:05:41 +09:00
Randy Mackay
222dd0c9be
AC_WPNav: correct comments
...
all position vectors are offsets from the ekf origin (not from the ahrs home)
2017-08-17 16:05:08 +09:00
Randy Mackay
bd2ba1565c
AC_WPNav: minor format fix
2017-07-10 13:26:37 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
079d2ff3be
AC_WPNav: correct min limit
2017-05-18 20:48:50 +09:00
Randy Mackay
a1a5c9f239
AC_WPNav: sanity check wpnav-radius
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Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
2017-05-18 12:25:47 +09:00
Randy Mackay
bffc5daeb0
AC_WPNav: unset yaw when setting new origin and destination
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This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
2017-05-03 09:15:01 +09:00
Randy Mackay
b1bd3f0364
AC_WPNav: yaw points along leash
2017-04-29 11:47:51 +09:00
Leonard Hall
62c123bb08
AC_WPNav: correct straight line waypoint leash calculation
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The former calculation was not correctly using the 3D leash
2017-04-28 17:58:34 +09:00
Leonard Hall
ba011eef78
AC_WPNav: init z-axis feed-foward to correct stopping point calcs
2017-04-28 09:10:02 +09:00
Randy Mackay
e2cf836734
AC_WPNav: add get_stopping_point
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returns 3D stopping point, simply re-uses pos_controller methods
2017-04-27 14:36:22 +09:00
Randy Mackay
e96332d346
AC_WPNav: reduce spline to straight twitch
2017-04-27 11:21:33 +09:00
Randy Mackay
d4c4daca16
AC_WPNav: speed-up and down parameter min to 10cm/s
2017-03-15 09:22:23 +09:00
Randy Mackay
8c6c2e46cc
AC_WPNav: protect against LOIT_SPEED divide-by-zero
2017-03-15 09:22:23 +09:00
Jacob Walser
96303c3092
AC_WPNav: Add accessor for origin, and make get_bearing_cd() public
2017-02-21 11:26:14 +11:00
Andrew Tridgell
17e1329068
AC_WPNav: converted to use AP_AHRS_View
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for use in quadplane tailsitters
2017-02-18 17:26:43 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
713b08d830
AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s
2017-01-07 14:30:07 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
Randy Mackay
a32068a973
AC_WPNav: remove ekf position reset handler
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This has been migrated to the position control library
2016-11-24 19:58:00 +09:00
Randy Mackay
6406e34016
AC_WPNav: remove unused _loiter_step member
2016-11-24 19:57:50 +09:00
Peter Barker
1eca4e128d
AC_WPNav: method to retrieve current desired pilot accels
2016-11-18 09:41:56 +09:00