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8 Commits

Author SHA1 Message Date
Andrew Tridgell
341dca4dfe AP_L1_Control: added set_default_period() 
used by the rover code
 2013-09-09 19:55:53 +10:00
Andrew Tridgell
31fce44063 AP_L1_Control: use a reference to AHRS 
makes code a bit simpler
 2013-08-13 13:49:26 +10:00
Andrew Tridgell
b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions 
not needed any more
 2013-08-13 12:07:35 +10:00
Andrew Tridgell
953051b49e AP_L1_Control: added lateral acceleration interface 
this will be used by the Rover code for steering
 2013-08-12 13:38:38 +10:00
Andrew Tridgell
86db955ac9 AP_L1_Control: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
9654546b5a AP_L1_Control: Cleaned up calculation of damping to reduce computations 
also removed _cross2D, using math library instead
 2013-05-05 21:51:08 +10:00
Andrew Tridgell
571c48b9d5 L1_Control: cleanup some unused code and variables 2013-04-15 10:52:32 +10:00
Brandon Jones
a3c2851120 AP_L1_Control: Addition of library for geometry calculations required for L1 Control. 
1) Explicit control of tracking loop period and damping which removes previous
   variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance

The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
 2013-04-12 12:48:09 +10:00