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317 Commits

Author SHA1 Message Date
Matt Lawrence 189fee556f AC_WPNav: Circle mode pilot control of rate & radius 2020-01-07 09:30:33 +09:00
Randy Mackay 3ca28e27c6 AC_WPNav: add get_terrain_source and rename existing method 
this allows RTL to determine which source of terrain data will be used which is required when building the return path
 2019-12-17 20:02:01 +09:00
Peter Barker 56de1f2eed AC_WPNav: do not calculate NEU vector from invalid location 2019-09-17 09:05:23 +09:00
Randy Mackay aeb98c7555 AC_WPNav: integrate OAPathPlanner 
includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
 2019-08-17 09:42:43 +09:00
Randy Mackay 6361a9a204 AC_WPNav: constify get_wp_destination 2019-08-17 09:42:43 +09:00
Peter Barker f21fcca9d0 AC_WPNav: take references to inav's position rather than a copy 2019-07-12 21:56:06 +09:00
Rishabh ce48b82500 AC_WPNav: remove brake 2019-06-13 09:02:46 +09:00
Peter Barker f2163fbc24 AC_WPNav: use singleton for getting AC_Avoid instance 2019-06-06 11:47:22 +10:00
Randy Mackay b668c6f855 AC_Circle: improve target heading 2019-05-07 13:54:31 +09:00
murata d3d6bed584 AP_WPNav: Change the value of the minimum effective radius 2019-04-26 20:10:19 +09:00
Guglielmo 9ebe5d7de9 AC_WPNav: lowering waypoint radius minimum to 5cm 2019-04-26 11:15:48 +09:00
Randy Mackay 6fbbabd333 AC_WPNav: add origin_and_destination_are_terrain_alt accessor 2019-04-19 07:45:52 +09:00
Randy Mackay 5ebaeaf5d2 AC_WPNav: add rangefinder_used accessor 
used by zigzag mode to determine if terrain altitudes can be used
 2019-04-19 07:45:52 +09:00
Peter Barker 6364e6d4c1 AC_WPNav: stop casting poscontrol's roll/pitch/yaw to int32_t 2019-04-09 09:21:12 +09:00
Peter Barker 2c5373e278 AC_WPNav: add floating point constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil 7b5fb719dc AC_WPNav: Remove unused internals, and unneeded initilizers 2019-03-25 08:56:31 +11:00
Peter Barker d9ddb8f34d AC_WPNav: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Andrew Tridgell 078eef91cb AC_WPNav: prevent I term buildup during landing 
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.

Thanks to Leonard for the suggestion
 2019-02-26 10:14:42 +11:00
Peter Barker 5bf511fc6d AC_WPNav: remove keywords.txt 2019-02-17 00:29:38 -08:00
Randy Mackay cde2964f05 AC_WPNav: split set_speed_z into up and down 
Also rely on AC_PosControl to store current target up and down speeds so wpnav's defaults are not affected by do-change-speed requests
 2019-01-31 19:34:32 +09:00
Randy Mackay b0811c86e7 AC_WPNav: rename get_speed_xy to get_default_speed_xy 
This hopefully clarifies that the default speed is returned and not the current speed
 2019-01-31 19:34:32 +09:00
Randy Mackay e93dee89b7 AC_WPNav: rely on AC_PosControl to hold current target speed 2019-01-31 19:34:32 +09:00
Pierre Kancir f5431ff661 AC_WPNav: improve wp_speed_cm variable comments 2019-01-31 19:34:32 +09:00
Randy Mackay 8ac09c0483 AC_WPNav: use dt from pos controller 2019-01-30 15:58:34 +09:00
Peter Barker 0215aff8f4 AC_WPNav: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker f0ca4de313 AC_WPNav: add reached_wp_destination_xy 2018-10-30 17:50:46 +09:00
chobits 7fa7c8f403 AC_WPNav: add set_speed_z 2018-10-13 13:16:26 +09:00
mirkix 0c9fd0ae93 AC_WPNav: fix typo 2018-10-12 00:53:42 +01:00
Peter Barker 3faf7824c0 AC_WPNav: allow position control to get ekf navigation scalars directly 2018-10-09 10:47:38 +11:00
Randy Mackay f0181be9c9 AC_Loiter: init_target only inits pos controller if inactive 
this reduces a twitch found during the development of zig-zag mode
 2018-10-05 10:05:45 +09:00
Michael du Breuil 65641c3cb7 AC_Circle: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Michael du Breuil d3bee76f0b AC_WPNav: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Leonard Hall 31d93f5914 AC_Loiter: reduce twitch on init 2018-09-04 13:37:28 +09:00
liang.tang 8664ed006a AC_Circle: use stopping point to get closest point on circle 2018-07-26 12:12:07 +09:00
liang.tang c03e50660c AC_WPNav: check validity of kP 2018-07-10 18:07:50 +09:00
Pierre Kancir bffe3f6c21 AC_WPNav: add getter for crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker 4c8c85f75b AC_WPNav: remove pointless initialisations 
new clears this memory
 2018-06-06 08:33:56 +09:00
Peter Barker fa0b315374 AC_WPNav: use rangefinder for terrain offset even if terrain not available 2018-06-06 08:33:56 +09:00
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