Andrew Tridgell
a58f61a29c
AC_WPNav: cope with negative WPNAV_SPEED_DN
...
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
2021-09-10 17:07:03 +10:00
Peter Barker
747f03c8de
AC_WPNav: monitor WPNAV_SPEED for changes
2021-09-10 17:07:03 +10:00
Josh Henderson
169f1b2d7a
AC_WPNav: simplify get_wp_destination_loc
2021-09-10 17:07:03 +10:00
Randy Mackay
332848e29d
AC_WPNav: protect against divide-by-zero
2021-09-10 17:07:03 +10:00
Randy Mackay
9e866449e1
AC_WPNav: move definitions to .cpp file
2021-09-10 17:07:03 +10:00
Randy Mackay
82ef14a692
Copter: terrain spelling fix
2021-09-10 17:07:03 +10:00
Randy Mackay
dbba55d779
AC_WPNav: terrain spelling fix
2021-09-10 17:07:03 +10:00
Leonard Hall
b16ce057c1
AC_WPNav: Separate landing and terrain following.
2021-09-10 17:07:03 +10:00
Leonard Hall
9a0b9407a8
AC_WPNav: Fix Jerk units
2021-08-28 12:50:32 +10:00
Leonard Hall
42d4a75d3b
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 16:41:52 +10:00
Leonard Hall
551e5fe4dc
AC_WPNav: Fix Angle Vel units on function
2021-08-14 16:41:52 +10:00
Randy Mackay
6dd100df7b
AC_WPNav_OA: minor formatting and comment fixes
2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
...
also bendy ruler uses pos controller
2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313
WP_Nav: Return Crosstrack error
2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e
AC_WPNav: use get_terrain_margin instead of constant
2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6
AC_WPNav: add TER_MARGIN param
2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68
AC_WPNav: Auto Terain following update
2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2
AC_WPNav: Remove unused function
2021-07-22 16:01:01 +10:00
Leonard Hall
30aa636ba1
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 16:01:01 +10:00
Randy Mackay
3e2949ce98
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-22 16:01:00 +10:00
Leonard Hall
0269c49c14
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 16:01:00 +10:00
Leonard Hall
e21b8a5b29
AC_WPNav: use shaping_tc_z_s for terrain following time constant.
2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7
AC_WPNav: convert circle, loiter and WPNav to double position
2021-07-04 08:19:11 +10:00
Andrew Tridgell
52d20cedad
AC_WPNav: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-07-04 08:19:11 +10:00
Leonard Hall
32a174c453
AC_WPNav: AC_Loiter: Remove extra accel limit
2021-07-04 08:19:10 +10:00
Randy Mackay
a9717ea5ff
AC_WPNav: move get_yaw lower in AC_WPNav.h
...
this is a non-functional change
2021-07-04 08:19:10 +10:00
Randy Mackay
dbc9b0c2f9
AC_Loiter: init brake_accel and fix brake timer type
2021-07-04 08:19:10 +10:00
Josh Henderson
757fc1d679
AC_WPNav: ensure that wp_radius greater than min
...
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
2021-06-09 10:55:15 +09:00
Hwurzburg
158c7c499d
AC_WPNav: correct param ranges to accomodate TradHeli defaults
2021-05-28 09:44:11 +09:00
Leonard Hall
166f059fc2
AC_WPNav: Fix before squash
2021-05-24 20:13:37 +10:00
Leonard Hall
538d8f82fb
AC_WPNav: PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
ccf06f66f7
AC_WPNav: integrate AC_PosControl::get_roll_cd rename
2021-05-12 17:16:00 +10:00
Leonard Hall
b17042078a
AC_Loiter: integrate AC_PosControl::get_roll_cd rename
2021-05-12 17:16:00 +10:00
Leonard Hall
d650df3e28
AC_Circle: integrate AC_PosControl::get_roll_cd rename
2021-05-12 17:16:00 +10:00
Leonard Hall
91e32a8339
AC_Loiter: minor format fix
2021-05-12 17:16:00 +10:00
Iampete1
e995e8873c
AC_Circle: add function to check for radius param change
2021-05-04 10:41:39 +10:00
chobits
00b44ff6c8
AC_WPNav: remove unused function
2021-05-03 20:10:39 -04:00
giacomo892
a5708acaef
AC_Circle: Restore radius every time
2021-04-28 11:36:58 +01:00
Randy Mackay
a3ceb6d95b
AC_WPNav: fix spline initialisation of terrain offset
2021-04-28 10:18:04 +09:00
Leonard Hall
361ba989bd
AC_WPNav: Use Pos_Control Heading
2021-04-27 17:13:55 +09:00
Leonard Hall
939d8e3ed4
AC_WPNav: Support Thrust Vector Control
2021-04-27 17:13:55 +09:00
Randy Mackay
b81930885c
AC_WPNav: remove unnecessary assignment and constify local vars
2021-04-21 10:41:28 +10:00
Randy Mackay
bebb7e7d8f
AC_WPNav: removed unused enums
2021-04-21 10:41:28 +10:00
chobits
fd88e53be6
AC_WPNav: remove unassigned _track_desired
2021-04-08 16:13:51 +09:00
Leonard Hall
64ae08a925
AC_Loiter: fix references to position error
2021-04-03 12:07:59 +09:00
Leonard Hall
d0ab74e496
AC_Circle: fix references to position error
2021-04-03 12:07:59 +09:00
Randy Mackay
2201450180
AC_WPNav: renames and comment fixes
2021-04-03 12:07:59 +09:00
Randy Mackay
85b24cf641
AC_WPNav: fix get_wp_destination_loc
...
was incorrectly adding alt-above-terrain as if it was alt-above-ekf-origin
also fixup comments
2021-04-03 12:07:59 +09:00
Leonard Hall
32c27b32aa
AC_WPNav: support for SCurve navigation
...
set_wp_destination clear yaw target
limit velocity and acceleration based on track slope
add is_active() and remove unused reached_spline_destination
init accepts desired speed
set_kinematic_limits uses current speed limits instead of defaults
add time compression to prevent target moving too fast for air
implement alternative spline
remove vel-target-length
set_wp_destination always calculates this leg
set_kinematic_limits moved to scurve
fix origin speed after spline segment
spline terrain following fix
handle s-curves with mismatching alt types
fix set_spline_destination_next
add update_track_with_speed_accel_limits
Change to next waypoint at corner apex
use scurve advance along track
remove unused definitions and out-of-date todo
set_spline_destination_next sets fast_waypoint
scurve origin speed set from spline target velocity
fixup takeoff delay
2021-04-03 12:07:59 +09:00
