Randy Mackay
597d5227f5
AC_WPNav: rename set_loiter_target to init_loiter_target
2014-05-19 12:27:25 +09:00
Randy Mackay
5d20594fa4
AC_WPNav: bug fix for loiter and waypoint update rate
...
Thanks to EmileC for spotting this
2014-05-12 20:13:46 +09:00
lthall
9ab9eaec25
AC_WPNav: Loiter jerk default to 10m/s/s/s
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Pair programmed with Randy
2014-05-08 16:16:05 +09:00
Randy Mackay
091ff91a70
WPNav: add wp_and_spline_init to set speeds an init pos controller
2014-05-08 16:15:50 +09:00
Randy Mackay
48ec0caf75
AC_WPNav: run navigation at 10hz in SITL
2014-05-08 16:15:44 +09:00
lthall
b38c484874
AC_WPNav: add LOIT_JERK parameter
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Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero
Pair programmed with Randy
2014-05-08 16:15:38 +09:00
Randy Mackay
fd9f8f571f
AC_WPNav: replace inav, ahrs pointers with references
2014-05-08 16:15:26 +09:00
Randy Mackay
0103ae2eb0
AC_WPNav: add WPNAV_ACCEL_Z
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Allows configurable z-axis acceleration during missions
2014-04-30 21:46:12 +09:00
Randy Mackay
510c9920a6
AC_WPNav: rename get_horizontal_velocity to get_speed_xy
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This new method name is consistent with the equivalent in the
AC_PosControl class
2014-04-30 21:46:06 +09:00
Randy Mackay
db51d37071
AC_WPNav: add clear_pilot_desired_acceleration
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This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
2014-04-25 14:45:14 +09:00
Randy Mackay
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
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Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
2014-04-24 13:16:08 +09:00
Randy Mackay
46fba47c8e
AC_WPNav: slow target point's speed near destination
2014-04-24 13:16:00 +09:00
Randy Mackay
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
2014-04-23 15:00:14 +09:00
Randy Mackay
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
2014-04-23 15:00:07 +09:00
Ju1ien
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
2014-04-23 14:59:47 +09:00
Randy Mackay
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
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Also pull Z-axis acceleration from position controller instead of using
#define
2014-04-22 23:05:11 +09:00
Randy Mackay
648787a6c8
AC_WPNav: rename some definitions
2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e
AC_WPNav: update target speed immediately
2014-04-21 14:51:26 +09:00
Randy Mackay
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
2014-04-21 13:32:02 +09:00
Randy Mackay
b15d4379d8
AC_WPNav: use atan2f, make methods const
2014-03-30 23:09:51 +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
e86a21a254
AC_WPNav: remove AC_PID include
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This is no longer required with introduction of PosControl lib
2014-02-15 06:09:08 +11:00
Randy Mackay
9e31f0b985
AC_WPNav: use PosControl accessor
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Saves 2bytes of RAM
2014-02-15 05:27:50 +11:00
Randy Mackay
64cfcb2308
AC_WPNav: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
d4e4620159
AC_WPNav: remove unused PID references
2014-02-15 05:27:39 +11:00
Randy Mackay
1596d83d02
AC_WPNav: move leashes to AC_PosControl
2014-02-15 05:27:37 +11:00
Randy Mackay
0d4ba04e75
AC_WPNav: make advance_wp_target private
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
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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
0a3559813a
AC_WPNav: accessor for loiter speed
2014-01-15 15:22:30 +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
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never modified
2013-10-27 13:41:23 +09:00
Randy Mackay
45aeb1a921
Copter: split up loiter into 4 steps
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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
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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
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
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Also removed unused _lean_angle_max variable
2013-07-10 20:00:32 +09:00
Randy Mackay
5d23d5aaa7
WPNav: reduce loiter speed used to correct pos error
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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
649cbf6b68
WPNav: reduce default WP_ACCEL and LOITER_SPEED
2013-07-07 16:00:13 -10:00
Randy Mackay
dde19c9585
WPNav: add acceleration parameter
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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
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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
7a2afb7443
Copter Nav: add accessor for waypoint speed
2013-06-01 18:21:29 +09:00
Randy Mackay
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
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Also pass in althold gain from main code
2013-05-31 21:03:27 +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
916f241fff
Copter: Leonard's improved Loiter
2013-05-24 23:45:03 +09:00
Randy Mackay
cb795ea536
WPNav: divide by zero checks
2013-05-15 11:51:26 +09:00
