120 Commits

Author	SHA1	Message	Date
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