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48,585 Commits 71 Branches 510 Tags 785 MiB
f4cdbb2707
Commit Graph

389 Commits

Author SHA1 Message Date
Leonard Hall
f4cdbb2707 AC_WPNav: Support error input to kinematic shaper 2022-02-12 08:55:16 +11:00
Leonard Hall
a3b6f33cf1 AC_WPNav: Fix calculation of _scurve_jerk_time using radians. 2021-09-10 17:07:04 +10:00
Andrew Tridgell
a58f61a29c AC_WPNav: cope with negative WPNAV_SPEED_DN 
a user set WPNAV_SPEED_DN to a negative value, with odd results. Take
absolute value to cope. Even though the param docs clearly say range
should be positive, it is one where it is easy to think it should be
negative
 2021-09-10 17:07:03 +10:00
Peter Barker
747f03c8de AC_WPNav: monitor WPNAV_SPEED for changes 2021-09-10 17:07:03 +10:00
Josh Henderson
169f1b2d7a AC_WPNav: simplify get_wp_destination_loc 2021-09-10 17:07:03 +10:00
Randy Mackay
332848e29d AC_WPNav: protect against divide-by-zero 2021-09-10 17:07:03 +10:00
Randy Mackay
9e866449e1 AC_WPNav: move definitions to .cpp file 2021-09-10 17:07:03 +10:00
Randy Mackay
82ef14a692 Copter: terrain spelling fix 2021-09-10 17:07:03 +10:00
Randy Mackay
dbba55d779 AC_WPNav: terrain spelling fix 2021-09-10 17:07:03 +10:00
Leonard Hall
b16ce057c1 AC_WPNav: Separate landing and terrain following. 2021-09-10 17:07:03 +10:00
Leonard Hall
9a0b9407a8 AC_WPNav: Fix Jerk units 2021-08-28 12:50:32 +10:00
Leonard Hall
42d4a75d3b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
551e5fe4dc AC_WPNav: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Randy Mackay
6dd100df7b AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313 WP_Nav: Return Crosstrack error 2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6 AC_WPNav: add TER_MARGIN param 2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68 AC_WPNav: Auto Terain following update 2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall
30aa636ba1 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Randy Mackay
3e2949ce98 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 16:01:00 +10:00
Leonard Hall
0269c49c14 AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 16:01:00 +10:00
Leonard Hall
e21b8a5b29 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
52d20cedad AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Leonard Hall
32a174c453 AC_WPNav: AC_Loiter: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Randy Mackay
a9717ea5ff AC_WPNav: move get_yaw lower in AC_WPNav.h 
this is a non-functional change
 2021-07-04 08:19:10 +10:00
Randy Mackay
dbc9b0c2f9 AC_Loiter: init brake_accel and fix brake timer type 2021-07-04 08:19:10 +10:00
Josh Henderson
757fc1d679 AC_WPNav: ensure that wp_radius greater than min 
Co-authored-by: Murata,Katsutoshi <ma2maru@gmail.com>
 2021-06-09 10:55:15 +09:00
Hwurzburg
158c7c499d AC_WPNav: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
Leonard Hall
166f059fc2 AC_WPNav: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
538d8f82fb AC_WPNav: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
ccf06f66f7 AC_WPNav: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
b17042078a AC_Loiter: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
d650df3e28 AC_Circle: integrate AC_PosControl::get_roll_cd rename 2021-05-12 17:16:00 +10:00
Leonard Hall
91e32a8339 AC_Loiter: minor format fix 2021-05-12 17:16:00 +10:00
Iampete1
e995e8873c AC_Circle: add function to check for radius param change 2021-05-04 10:41:39 +10:00
chobits
00b44ff6c8 AC_WPNav: remove unused function 2021-05-03 20:10:39 -04:00
giacomo892
a5708acaef AC_Circle: Restore radius every time 2021-04-28 11:36:58 +01:00
Randy Mackay
a3ceb6d95b AC_WPNav: fix spline initialisation of terrain offset 2021-04-28 10:18:04 +09:00
Leonard Hall
361ba989bd AC_WPNav: Use Pos_Control Heading 2021-04-27 17:13:55 +09:00
Leonard Hall
939d8e3ed4 AC_WPNav: Support Thrust Vector Control 2021-04-27 17:13:55 +09:00
Randy Mackay
b81930885c AC_WPNav: remove unnecessary assignment and constify local vars 2021-04-21 10:41:28 +10:00
Randy Mackay
bebb7e7d8f AC_WPNav: removed unused enums 2021-04-21 10:41:28 +10:00
chobits
fd88e53be6 AC_WPNav: remove unassigned _track_desired 2021-04-08 16:13:51 +09:00
Leonard Hall
64ae08a925 AC_Loiter: fix references to position error 2021-04-03 12:07:59 +09:00
Leonard Hall
d0ab74e496 AC_Circle: fix references to position error 2021-04-03 12:07:59 +09:00
Randy Mackay
2201450180 AC_WPNav: renames and comment fixes 2021-04-03 12:07:59 +09:00