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190 Commits

Author SHA1 Message Date
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
Randy Mackay 173de60f25 AC_WPNav: move definitions to .cpp file 2021-09-10 14:07:37 +09:00
Randy Mackay 05ac549155 Copter: terrain spelling fix 2021-09-10 14:07:37 +09:00
Randy Mackay b66b5cd21c AC_WPNav: terrain spelling fix 2021-09-10 14:07:37 +09:00
Pierre Kancir 9f2bfd330d AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 19:07:36 +09:00
Leonard Hall efd854562f WP_Nav: Return Crosstrack error 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 49148f28e7 AC_WPNav: Remove unused function 2021-07-22 19:07:36 +09:00
Randy Mackay f3c25397c7 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 19:07:36 +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
Randy Mackay a79a3d2051 AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-06-18 08:20:02 +09:00
Leonard Hall ccf06f66f7 AC_WPNav: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
chobits 00b44ff6c8 AC_WPNav: remove unused function 2021-05-03 20:10:39 -04:00
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 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
Randy Mackay 79c9b4b523 AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s 2021-03-03 08:03:39 +09:00
Randy Mackay eafd702773 AC_WPNav: add comment clarifying get_wp_destination alt frame 2021-02-11 13:01:37 +09:00
Randy Mackay 530eb6d236 AC_WPNav: remove unused reached_spline_destination 2020-10-07 15:41:18 +09:00
Randy Mackay f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +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
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
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
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
Michael du Breuil 7b5fb719dc AC_WPNav: Remove unused internals, and unneeded initilizers 2019-03-25 08:56:31 +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 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
Pierre Kancir f5431ff661 AC_WPNav: improve wp_speed_cm variable comments 2019-01-31 19:34:32 +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
Peter Barker 3faf7824c0 AC_WPNav: allow position control to get ekf navigation scalars directly 2018-10-09 10:47:38 +11:00
Pierre Kancir bffe3f6c21 AC_WPNav: add getter for crosstrack_error 2018-06-26 08:42:14 +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 9426ee6df6 AC_WPNav: remove loiter 
Loiter is in separate AC_Loiter class
 2018-04-04 10:45:10 +09:00