Josh Henderson
5551deab4b
AC_WPNav: make Location(Vector3f) require ALTFRAME
2021-03-30 08:56:35 +09:00
Rishabh
711b497cc3
AC_Loiter: Make avoidance optional while using loiter controller
2021-03-22 14:04:42 +09:00
Randy Mackay
0d730e11cc
AC_WPNav: OA stores and uses original terrain alt
2021-03-17 14:11:12 +09:00
Randy Mackay
da580bd1ea
AC_WPNav: OA gets minor format fix
2021-03-17 14:11:12 +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
Rishabh
401d365491
AC_WPNav: Adapt to 3-D Avoidance changes
2021-02-01 14:34:13 +09:00
Leonard Hall
e2308e9414
AC_Loiter: use AP_Math control tools common functions
2021-01-20 18:19:40 +11:00
Randy Mackay
530eb6d236
AC_WPNav: remove unused reached_spline_destination
2020-10-07 15:41:18 +09:00
Iampete1
4e064ef812
AC_Circle: add Circle options
2020-09-30 17:58:12 +10:00
Rishabh
db57e0831b
AC_WPNav: Navigation based on type of BendyRuler
2020-08-24 08:53:20 +09:00
Iampete1
b1c3ea467b
AC_Circle: constantly update velocity from params
2020-06-24 08:57:08 +09:00
Randy Mackay
46ad31ad01
AC_Circle: add is_active
...
allows vehicle code to know if circle's yaw is valid
2020-04-27 09:39:46 +09:00
Randy Mackay
3195a7cccd
AC_Circle: z-axis target only updated during terrain following
...
This allows the circle flight mode to externally control the altitude target
2020-04-21 11:39:38 +09:00
Randy Mackay
03441f2250
AC_Circle: remove _rangefinder_use parameter
...
We will reuse the WPNAV_RFND_USE parameter indirectly
2020-04-16 17:30:29 +09:00
Randy Mackay
f3e2b182a1
AC_WPNav: add rangefinder_used accessor
2020-04-16 17:30:29 +09:00
Randy Mackay
658bb646ca
AC_Circle: support terrain altitudes
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
Matt Lawrence
189fee556f
AC_WPNav: Circle mode pilot control of rate & radius
2020-01-07 09:30:33 +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
Peter Barker
56de1f2eed
AC_WPNav: do not calculate NEU vector from invalid location
2019-09-17 09:05:23 +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
Peter Barker
f21fcca9d0
AC_WPNav: take references to inav's position rather than a copy
2019-07-12 21:56:06 +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
Randy Mackay
b668c6f855
AC_Circle: improve target heading
2019-05-07 13:54:31 +09:00
murata
d3d6bed584
AP_WPNav: Change the value of the minimum effective radius
2019-04-26 20:10:19 +09:00
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
Peter Barker
2c5373e278
AC_WPNav: add floating point constant designators
2019-04-05 23:04:17 -07:00
Michael du Breuil
7b5fb719dc
AC_WPNav: Remove unused internals, and unneeded initilizers
2019-03-25 08:56:31 +11:00
Peter Barker
d9ddb8f34d
AC_WPNav: use enum class for AltFrame enumeration
2019-03-19 10:31:18 +11:00
Andrew Tridgell
078eef91cb
AC_WPNav: prevent I term buildup during landing
...
this prevents I term buildup in the XY velocity controller during
landing. This to account for the EKF giving a non-zero horizontal
velocity when we have touched down. The I term buildup in the XY
velocity controller can lead to the attitude error going above the
level for disabling the relax function as the throttle mix is
changed. That results in large motor outputs which can tip over the
vehicle after touchdown.
Thanks to Leonard for the suggestion
2019-02-26 10:14:42 +11:00
Peter Barker
5bf511fc6d
AC_WPNav: remove keywords.txt
2019-02-17 00:29:38 -08:00
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
Randy Mackay
e93dee89b7
AC_WPNav: rely on AC_PosControl to hold current target 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
Randy Mackay
8ac09c0483
AC_WPNav: use dt from pos controller
2019-01-30 15:58:34 +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
mirkix
0c9fd0ae93
AC_WPNav: fix typo
2018-10-12 00:53:42 +01:00
Peter Barker
3faf7824c0
AC_WPNav: allow position control to get ekf navigation scalars directly
2018-10-09 10:47:38 +11:00
Randy Mackay
f0181be9c9
AC_Loiter: init_target only inits pos controller if inactive
...
this reduces a twitch found during the development of zig-zag mode
2018-10-05 10:05:45 +09:00
Michael du Breuil
65641c3cb7
AC_Circle: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
