Leonard Hall
4d0cf2c11d
AC_WPNav: Fix calculation of _scurve_jerk_time using radians.
2021-09-10 14:07:37 +09:00
Andrew Tridgell
adc2bf1955
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 14:07:37 +09:00
Peter Barker
3fade60249
AC_WPNav: monitor WPNAV_SPEED for changes
2021-09-10 14:07:37 +09:00
Josh Henderson
2e52e2cba9
AC_WPNav: simplify get_wp_destination_loc
2021-09-10 14:07:37 +09:00
Randy Mackay
fe2b4d09c3
AC_WPNav: protect against divide-by-zero
2021-09-10 14:07:37 +09:00
Randy Mackay
173de60f25
AC_WPNav: move definitions to .cpp file
2021-09-10 14:07:37 +09:00
Randy Mackay
b66b5cd21c
AC_WPNav: terrain spelling fix
2021-09-10 14:07:37 +09:00
Leonard Hall
283c83fb6e
AC_WPNav: Fix Jerk units
2021-08-28 14:41:27 +09:00
Leonard Hall
eb652b71f9
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 10:44:08 +09:00
Leonard Hall
8cd70f2569
AC_WPNav: Fix Angle Vel units on function
2021-08-14 10:44:08 +09:00
Randy Mackay
aad2f883d6
AC_WPNav: use get_terrain_margin instead of constant
2021-07-22 19:07:36 +09:00
Randy Mackay
9775d23883
AC_WPNav: add TER_MARGIN param
2021-07-22 19:07:36 +09:00
Leonard Hall
185c6cf845
AC_WPNav: Auto Terain following update
2021-07-22 19:07:36 +09:00
Leonard Hall
23b7d1060d
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
ec53ea7f8e
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 19:07:36 +09:00
Leonard Hall
fcde1e7370
AC_WPNav: use shaping_tc_z_s for terrain following time constant.
2021-06-25 16:54:05 +09:00
Andrew Tridgell
1d00cab9e6
AC_WPNav: convert circle, loiter and WPNav to double position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
bf91168cd6
AC_WPNav: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +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
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
chobits
00b44ff6c8
AC_WPNav: remove unused function
2021-05-03 20:10:39 -04:00
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
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
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
Leonard Hall
25f1a4a4e1
AC_WPNav: add shift_wp_origin_to_current_pos_xy
...
also add shift_wp_origin_and_destination_to_stopping_point_xy
2020-03-11 10:39:18 +09:00
bnsgeyer
593ff6818d
AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL
...
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
Changed at Leonard's request to keep things simpler
2020-02-22 08:53:41 +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
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
murata
d3d6bed584
AP_WPNav: Change the value of the minimum effective radius
2019-04-26 20:10:19 +09:00
Peter Barker
d9ddb8f34d
AC_WPNav: use enum class for AltFrame enumeration
2019-03-19 10:31:18 +11:00
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
e93dee89b7
AC_WPNav: rely on AC_PosControl to hold current target speed
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
chobits
7fa7c8f403
AC_WPNav: add set_speed_z
2018-10-13 13:16:26 +09:00
Peter Barker
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
2018-10-09 10:47:38 +11:00
Michael du Breuil
d3bee76f0b
AC_WPNav: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
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
