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280 Commits

Author SHA1 Message Date
Randy Mackay 15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Randy Mackay b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +09:00
Randy Mackay d27ca53a9d AC_WPNav: spline sets origin vel to zero when no prev segment 
Issue caught by Michael Oborne
 2014-03-30 15:19:18 +09:00
Randy Mackay 7dfde39e19 AC_WPNav: advance_spline to use dt 2014-03-30 15:02:07 +09:00
Randy Mackay c0458b786a AC_WPNav: check acceleration is non zero 2014-03-30 11:52:44 +09:00
Randy Mackay f0f3688172 AC_WPNav: rounder corners for short spline segments 2014-03-30 11:52:41 +09:00
Randy Mackay 197683d539 WPNav: clean up spline comments 2014-03-29 17:57:47 +09:00
Randy Mackay 24eb195aa3 WPNav: add yaw control for straight line wp nav 2014-03-28 09:23:13 +09:00
Randy Mackay b42b12f7be AC_WPNav: add get_spline_yaw 2014-03-28 09:23:07 +09:00
Randy Mackay e5e71ce371 WPNav: add spline support 2014-03-28 09:22:53 +09:00
Randy Mackay 98bdbb7fed AC_WPNav: set loiter accel to 1/2 of speed 
Bug fix from Leonard.
Also fixed some formatting.
 2014-02-20 21:37:45 +09:00
Randy Mackay 9e31f0b985 AC_WPNav: use PosControl accessor 
Saves 2bytes of RAM
 2014-02-15 05:27:50 +11:00
Randy Mackay d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point 
Also bug fix to set pos_control's down speed as a negative number
 2014-02-15 05:27:39 +11:00
Randy Mackay 4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay 1596d83d02 AC_WPNav: move leashes to AC_PosControl 2014-02-15 05:27:37 +11:00
Randy Mackay 0c8cbba644 AC_WPNav: remove xy pos controller 2014-02-15 05:27:36 +11:00
Randy Mackay 2984e492df AC_WPNav: add reference to AC_PosControl 
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
 2014-02-15 05:27:35 +11:00
Randy Mackay c9415a08f1 AC_WPNav: use ahrs trig values 2014-02-08 18:16:47 +09:00
Randy Mackay 5767aa47d9 AC_WPNav: reduce leash length for stopping 
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x.  This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
 2013-12-13 22:12:30 +09:00
Randy Mackay 952afd296e Copter: initialise waypoint leash length 
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
 2013-12-12 16:23:37 +09:00
Andrew Tridgell 30fffa5854 AC_WPNav: fixed some build warnings 2013-12-11 10:21:41 +11:00
Tobias c3309d909c AC_WPNav: make more member pointers const 2013-10-27 13:41:29 +09:00
Tobias bb5cf4a311 AC_WPNav: make member pointer to AP_InertialNav object const since it's 
never modified
 2013-10-27 13:41:23 +09:00
Tobias 1ecb583dd9 AC_WPNav: replace unnecessary objects with const refs 2013-10-27 13:40:53 +09:00
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay bf5a50f738 WPNav: stopping point projection uses wp_leash 2013-07-11 11:39:44 +09:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay 204f613467 WPNav: bug fix to reported distance to target 
This value is for reporting purposes only
 2013-07-10 18:21:08 +09:00
Randy Mackay 518eba0729 WPNav: bug fix to loiter accel calculation 
Contribution from Leonard Hall
 2013-07-10 17:52:12 +09:00
Randy Mackay c4f17b3235 WPNav: rounding error fix in loiter 
Contributed by Leonard Hall
 2013-07-10 16:24:37 +09:00
Randy Mackay 5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error 
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
 2013-07-10 15:52:18 +09:00
Randy Mackay dde19c9585 WPNav: add acceleration parameter 
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
 2013-06-16 11:40:51 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Randy Mackay 89bbf5844f Copter WPNav: remove unused variable 2013-05-31 21:41:32 +09:00
Randy Mackay 8c4a7ec094 Copter WPNav: Leonard's improved speed fix 
Also pass in althold gain from main code
 2013-05-31 21:03:27 +09:00
Randy Mackay a1926441da Copter: use fast tan for accel to lean angle calcs 
Committed on behalf of Leonard
 2013-05-30 18:25:04 +09:00
Randy Mackay d203f0295b Copter: bug fix for vertical speed during missions 2013-05-30 11:52:04 +09:00
Randy Mackay dbd6524f9f Copter: WPNav consolidate acceleration #defines 2013-05-27 10:36:24 +09:00
Randy Mackay e3dffb920b Copter: initialise target vel in loiter 2013-05-25 14:07:04 +09:00
Randy Mackay a474b97291 Copter: resolve compiler warning re unused vars 2013-05-25 13:32:15 +09:00
Randy Mackay 916f241fff Copter: Leonard's improved Loiter 2013-05-24 23:45:03 +09:00
Randy Mackay 46d65150af Copter: lengthen loiter stopping point 
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
 2013-05-22 17:35:20 +09:00
Randy Mackay 400c1bd7b7 Copter: smooth waypoint transitions 
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
 2013-05-22 14:17:26 +09:00
Randy Mackay cb795ea536 WPNav: divide by zero checks 2013-05-15 11:51:26 +09:00
Randy Mackay 55235630b6 Copter: bug fix for slow loiter repositioning 2013-05-12 14:51:02 +09:00
Randy Mackay 61288fcb90 WPNav: make get_stopping_point method public 2013-05-11 16:05:42 +09:00
Randy Mackay ed5ddfd9db WPNav: initialise desired roll, pitch 
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
 2013-05-09 18:32:02 +09:00
Randy Mackay 9f735c8d03 WPNav: add fast waypoints flag 
Waypoint is considered "reached" when the intermediate point reaches the
destination
 2013-05-09 00:18:02 +09:00
Randy Mackay 4704b729c2 WPNav: reduce max acceleration to 2.5m/s 
Also includes bug fix to ramp up of speed of intermediate point
 2013-05-08 23:20:29 +09:00
Randy Mackay 328d900647 WPNav: flexible loiter speed 
Also includes bug fix to allow speeds > 10m/s during missions
 2013-05-07 17:11:24 +09:00
Randy Mackay 1f8161b493 AC_WPNav: remove unnecessary speed constraint 2013-05-07 11:58:04 +09:00
Randy Mackay 647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Randy Mackay 6c081c3def AC_WPNav: slow acceleration of intermediate point 2013-04-30 10:20:23 +09:00
Andrew Tridgell ad40ba57be AC_WPNav: optimise to reduce memory copies 
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 12:21:58 +10:00
Randy Mackay 2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Randy Mackay ed298363f4 AC_WPNav: remove unnecessary limit in leash calc 2013-04-18 22:31:44 +09:00
Randy Mackay 764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay effd5b0da7 AC_WPNav: improved comments 
Made SPEEDZ a parameter although it's not yet used
 2013-04-18 11:17:41 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay 0eab3e87b2 AC_WPNav: use prev wp as origin for next wp 2013-04-14 18:27:39 +09:00
Randy Mackay 0351c2ae33 AC_WPNav: allow setting of horizontal velocity 
Also added accessor function for waypoint radius parameter
 2013-04-14 13:24:14 +09:00
Randy Mackay 252e98ec57 AC_WPNav: use global gravity constant 2013-04-14 10:39:32 +09:00
Randy Mackay 9d7d174995 AC_WPNAV: check distance to waypoint within library 
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
 2013-04-14 10:39:21 +09:00
Randy Mackay 35001619f0 AC_WPNav: stop track_desired from moving backwards 2013-04-14 10:39:19 +09:00
Randy Mackay c6b68c7843 AC_WPNav: Leonard's 3d leash calculator 2013-04-14 10:39:08 +09:00
Randy Mackay 74e1c2e660 AC_WPNav: advance track fixes 2013-04-14 10:39:05 +09:00
Randy Mackay 6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay 31838b2865 AC_WPNAV: change loiter controllers to use floats 
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
 2013-04-14 10:38:56 +09:00
Randy Mackay 0ccdce1b22 AC_WPNav: Leonard's ff loiter and 3d wp nav 2013-04-14 10:38:43 +09:00
Randy Mackay 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay afd2f82768 AC_WPNav: bug fix for track covered being 2D 
Replaced abs and fabs with fabsf
Added get_destination method
 2013-04-14 10:38:32 +09:00
Randy Mackay 8ec7fd1c9c AC_WPNav: add set_loiter_target to use velocity 
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
 2013-04-14 10:38:25 +09:00
Randy Mackay 60060d8184 AC_WPNav: add get_target_alt 
Required because waypoint controller will be modified to control
altitude
 2013-04-14 10:37:58 +09:00
Randy Mackay 0d70ba1030 AC_WPNav: bug fix to dt calculation 2013-04-14 10:37:51 +09:00
Randy Mackay 39bc3800c9 AC_WPNav: add distance and bearing to target methods 2013-04-14 10:34:50 +09:00
Randy Mackay b92c4097d2 AC_WPNav: first implementation 2013-04-14 10:34:47 +09:00