Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell
c87fa13e77
AC_WPNav: added WP_RFND_USE parameter
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allows disable of rangefinder use for terrain following
2016-08-23 09:27:39 +10:00
Jonathan Challinger
b5e80148c6
AC_WPNav: remove shift_loiter_target
2016-07-04 16:57:06 +09:00
Andrew Tridgell
86ceee4a53
AC_WPNav: fixed typo
2016-07-01 15:34:56 +10:00
Daniel Ricketts
8a6aa24525
AC_WPNav: use AC_Avoidance to stop at fence during Loiter
2016-06-22 11:38:15 +09:00
Randy Mackay
2bafc36ded
AC_WPNav: support rangefinder for terrain following
2016-05-21 10:36:53 +09:00
Ricardo de Almeida Gonzaga
3033c53834
AC_WPNav: Fix typos
2016-05-13 19:20:05 -03:00
Randy Mackay
1c4b2be16a
AC_WPNav: simplify use of terrain to just current location
2016-04-30 10:33:01 +09:00
Randy Mackay
c5a3781507
AC_WPNav: accept terrain library reference
2016-04-30 10:33:01 +09:00
Randy Mackay
9fbfea951a
AC_WPNav: spline handles terrain altitudes
2016-04-30 10:33:01 +09:00
Randy Mackay
8b2c479d62
AC_WPNav: straight line waypoints accept terrain
2016-04-30 10:33:01 +09:00
Lucas De Marchi
3ae4c222e0
AC_WPNav: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Randy Mackay
adee13d729
AC_WPNav: handle ekf position reset in Loiter and Brake
2015-10-30 12:24:17 +09:00
Randy Mackay
7706102d1e
AC_WPNav: add shift_loiter_target method
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Shift the loiter target and freeze the feedforward if necessary
2015-08-31 18:00:24 +09:00
Randy Mackay
15fc689085
AC_WPNav: remove unused get_wp_radius
2015-08-23 11:06:19 +09:00
Gustavo Jose de Sousa
ee2c388bb0
AC_WPNav: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:41 +10:00
Randy Mackay
a81d756ce1
AC_WPNav: remove unused definitions
2015-08-05 14:14:55 +09:00
Randy Mackay
0077cac1b7
AC_WPNav: rename stop to brake
2015-05-17 14:44:33 +09:00
Randy Mackay
61c851885f
AC_WPNav: remove unused set_spline_dest_and_vel
2015-05-13 22:40:08 +09:00
Andrew Tridgell
e789984c98
AC_WPNav: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Jonathan Challinger
2b29060a4e
AC_WPNav: remove unused set_loiter_velocity
2015-05-01 16:46:53 +09:00
Randy Mackay
35874292a0
AC_WPNav: move stop below all loiter methods
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No functional change
2015-04-26 16:26:53 +09:00
Robert Lefebvre
4a7fe83b0f
AC_WPNav: Create Stop Mode functions
2015-04-26 16:11:45 +09:00
Randy Mackay
39213584da
AC_WPNav: minor comment and formatting changes
2015-04-14 14:50:58 +09:00
Jonathan Challinger
1da410a6c6
AC_WPNav: allow user to tune loiter
2015-04-14 14:50:53 +09:00
Jonathan Challinger
6eab698e85
AC_WPNav: remove various timing hacks
2014-12-31 14:03:20 +09:00
priseborough
11fb51ceba
AC_WPNav: Add nav velocity gain scaler to interfaces
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Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
5fa0c59310
AC_WPNav: Add EKF ground speed limit to loiter speed control
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This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
Jonathan Challinger
2cc65dffe0
AC_WPNav: add set_spline_dest_and_vel function
2014-11-17 14:38:46 -08:00
Jonathan Challinger
369839c7ca
AC_WPNav: Use target yaw instead of current yaw for close waypoints
2014-10-31 15:23:52 +09:00
Randy Mackay
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
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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
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This resets the position target to the current location.
2014-09-19 16:43:10 +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
a2f54fdf2c
AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot
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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
efd6d6dc70
AC_WPNav: spline div by zero fix
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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
597d5227f5
AC_WPNav: rename set_loiter_target to init_loiter_target
2014-05-19 12:27:25 +09:00
Randy Mackay
5d20594fa4
AC_WPNav: bug fix for loiter and waypoint update rate
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Thanks to EmileC for spotting this
2014-05-12 20:13:46 +09:00
lthall
9ab9eaec25
AC_WPNav: Loiter jerk default to 10m/s/s/s
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Pair programmed with Randy
2014-05-08 16:16:05 +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
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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
0103ae2eb0
AC_WPNav: add WPNAV_ACCEL_Z
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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
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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
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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
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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