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138 Commits

Author SHA1 Message Date
Leonard Hall 1c0678226c AC_WPNav: new loiter including accel ff and braking 
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt

Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
 2018-03-16 13:50:57 +09:00
Randy Mackay efbd8eb386 AC_WPNav: remove unused definition 
This has been moved to AC_PosControl library
 2018-01-23 12:00:43 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 1a512609ac AC_WPNav: Use the get_bearing_cd() overloaded function provided by AP_Math instead 2017-12-05 08:54:49 +09:00
squilter da7aa36f2d AC_WPNav: add set_wp_destination_NED to accept target in meters NED 2017-09-09 14:05:41 +09:00
Randy Mackay 222dd0c9be AC_WPNav: correct comments 
all position vectors are offsets from the ekf origin (not from the ahrs home)
 2017-08-17 16:05:08 +09:00
Randy Mackay a1a5c9f239 AC_WPNav: sanity check wpnav-radius 
Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
 2017-05-18 12:25:47 +09:00
Randy Mackay b1bd3f0364 AC_WPNav: yaw points along leash 2017-04-29 11:47:51 +09:00
Randy Mackay e2cf836734 AC_WPNav: add get_stopping_point 
returns 3D stopping point, simply re-uses pos_controller methods
 2017-04-27 14:36:22 +09:00
Randy Mackay 8c6c2e46cc AC_WPNav: protect against LOIT_SPEED divide-by-zero 2017-03-15 09:22:23 +09:00
Jacob Walser 96303c3092 AC_WPNav: Add accessor for origin, and make get_bearing_cd() public 2017-02-21 11:26:14 +11:00
Andrew Tridgell 17e1329068 AC_WPNav: converted to use AP_AHRS_View 
for use in quadplane tailsitters
 2017-02-18 17:26:43 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 713b08d830 AC_WPNav: Reduced WPNAV_SPEED minimum to 20cm/s 2017-01-07 14:30:07 +09:00
Randy Mackay a32068a973 AC_WPNav: remove ekf position reset handler 
This has been migrated to the position control library
 2016-11-24 19:58:00 +09:00
Randy Mackay 6406e34016 AC_WPNav: remove unused _loiter_step member 2016-11-24 19:57:50 +09:00
Peter Barker 1eca4e128d AC_WPNav: method to retrieve current desired pilot accels 2016-11-18 09:41:56 +09:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell c87fa13e77 AC_WPNav: added WP_RFND_USE parameter 
allows disable of rangefinder use for terrain following
 2016-08-23 09:27:39 +10:00
Jonathan Challinger b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00
Andrew Tridgell 86ceee4a53 AC_WPNav: fixed typo 2016-07-01 15:34:56 +10:00
Daniel Ricketts 8a6aa24525 AC_WPNav: use AC_Avoidance to stop at fence during Loiter 2016-06-22 11:38:15 +09:00
Randy Mackay 2bafc36ded AC_WPNav: support rangefinder for terrain following 2016-05-21 10:36:53 +09:00
Ricardo de Almeida Gonzaga 3033c53834 AC_WPNav: Fix typos 2016-05-13 19:20:05 -03:00
Randy Mackay 1c4b2be16a AC_WPNav: simplify use of terrain to just current location 2016-04-30 10:33:01 +09:00
Randy Mackay c5a3781507 AC_WPNav: accept terrain library reference 2016-04-30 10:33:01 +09:00
Randy Mackay 9fbfea951a AC_WPNav: spline handles terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay 8b2c479d62 AC_WPNav: straight line waypoints accept terrain 2016-04-30 10:33:01 +09:00
Lucas De Marchi 3ae4c222e0 AC_WPNav: replace header guard with pragma once 2016-03-16 18:40:39 +11:00
Randy Mackay adee13d729 AC_WPNav: handle ekf position reset in Loiter and Brake 2015-10-30 12:24:17 +09:00
Randy Mackay 7706102d1e AC_WPNav: add shift_loiter_target method 
Shift the loiter target and freeze the feedforward if necessary
 2015-08-31 18:00:24 +09:00
Randy Mackay 15fc689085 AC_WPNav: remove unused get_wp_radius 2015-08-23 11:06:19 +09:00
Gustavo Jose de Sousa ee2c388bb0 AC_WPNav: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:41 +10:00
Randy Mackay a81d756ce1 AC_WPNav: remove unused definitions 2015-08-05 14:14:55 +09:00
Randy Mackay 0077cac1b7 AC_WPNav: rename stop to brake 2015-05-17 14:44:33 +09:00
Randy Mackay 61c851885f AC_WPNav: remove unused set_spline_dest_and_vel 2015-05-13 22:40:08 +09:00
Andrew Tridgell e789984c98 AC_WPNav: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Jonathan Challinger 2b29060a4e AC_WPNav: remove unused set_loiter_velocity 2015-05-01 16:46:53 +09:00
Randy Mackay 35874292a0 AC_WPNav: move stop below all loiter methods 
No functional change
 2015-04-26 16:26:53 +09:00
Robert Lefebvre 4a7fe83b0f AC_WPNav: Create Stop Mode functions 2015-04-26 16:11:45 +09:00
Randy Mackay 39213584da AC_WPNav: minor comment and formatting changes 2015-04-14 14:50:58 +09:00
Jonathan Challinger 1da410a6c6 AC_WPNav: allow user to tune loiter 2015-04-14 14:50:53 +09:00
Jonathan Challinger 6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
priseborough 11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 5fa0c59310 AC_WPNav: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
Jonathan Challinger 2cc65dffe0 AC_WPNav: add set_spline_dest_and_vel function 2014-11-17 14:38:46 -08:00
Jonathan Challinger 369839c7ca AC_WPNav: Use target yaw instead of current yaw for close waypoints 2014-10-31 15:23:52 +09:00
Randy Mackay dbe1c55666 AC_WPNav: add shift_wp_origin_to_current_pos for takeoff 
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
 2014-09-29 15:26:18 +09:00
Randy Mackay 765420ee04 AC_WPNav: add loiter_soften_for_landing method 
This resets the position target to the current location.
 2014-09-19 16:43:10 +09:00
Randy Mackay 2b64c511ed AC_WPNav: update yaw only when track is at least 2m 2014-07-06 17:02:12 +09:00
Randy Mackay a2f54fdf2c AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot 
First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint".  Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
 2014-06-10 20:03:01 +09:00