ardupilot

Commit Graph

Author	SHA1	Message	Date
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

Author

SHA1

Message

Date

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

3 Commits