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243 Commits

Author SHA1 Message Date
Randy Mackay 094620bc8a AC_WPNav: pass dt to avoidance 2018-01-16 12:13:48 +09:00
Randy Mackay 4d0c24f4eb AC_WPNav: RFND_USE param desription update 2018-01-12 16:50:00 +09:00
Peter Barker dff27ec506 AC_WPNav: correct call for getting location vector 
Function has been renamed and only takes a Vector2f
 2017-12-15 01:24:13 +00:00
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
Dr.-Ing. Amilcar Do Carmo Lucas 07c8d208bc AC_WPNav: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
Leonard Hall e49d29f8cd AC_WPNav: protect against divide by zero 
This could occur if the spline origin and destination were the same location
In these cases we mark the vehicle as having reached the destination avoid all calculations
 2017-11-23 21:24:28 +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 bd2ba1565c AC_WPNav: minor format fix 2017-07-10 13:26:37 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 079d2ff3be AC_WPNav: correct min limit 2017-05-18 20:48:50 +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 bffc5daeb0 AC_WPNav: unset yaw when setting new origin and destination 
This ensures that old yaw targets are not used in the short interval before they are initialised in advance_wp_target_along_track or advance_spline_along_track
 2017-05-03 09:15:01 +09:00
Randy Mackay b1bd3f0364 AC_WPNav: yaw points along leash 2017-04-29 11:47:51 +09:00
Leonard Hall 62c123bb08 AC_WPNav: correct straight line waypoint leash calculation 
The former calculation was not correctly using the 3D leash
 2017-04-28 17:58:34 +09:00
Leonard Hall ba011eef78 AC_WPNav: init z-axis feed-foward to correct stopping point calcs 2017-04-28 09:10:02 +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 e96332d346 AC_WPNav: reduce spline to straight twitch 2017-04-27 11:21:33 +09:00
Randy Mackay d4c4daca16 AC_WPNav: speed-up and down parameter min to 10cm/s 2017-03-15 09:22:23 +09:00
Randy Mackay 8c6c2e46cc AC_WPNav: protect against LOIT_SPEED divide-by-zero 2017-03-15 09:22:23 +09:00
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
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
Randy Mackay 2dc111ff39 Copter: reduce WPNAV_LOIT_MINA parameter description range 2016-08-01 17:09:20 +09:00
Jonathan Challinger b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00
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
Tom Pittenger 684ac12dd6 AC_WPNav: fix compile when using AP_TERRAIN_AVAILABLE 0 2016-05-20 12:29:19 -07:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -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 e23c869c5d AC_WPNav: fix reporting of set_wp_destination failure 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
Andrew Tridgell 4908350ccb AC_WPNav: limit WPNAV_ACCEL to that implied by ANGLE_MAX 
this prevents an overshoot and backtracking in the navigation code
when WPNAV_ACCEL is unachievable due to an angle limit
 2016-04-28 17:47:50 +10:00
Jonathan Challinger 3c4d226b64 AC_WPNav: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:50 +09:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho e867a06383 AC_WPNav: use millis/micros/panic functions 2015-11-20 12:28:13 +09:00
Jonathan Challinger f9c7f15052 AC_WPNav: WPNAV_LOIT_SPEED WPNAV_LOIT_MAXA take effect immediately 2015-11-18 22:12:39 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Randy Mackay adee13d729 AC_WPNav: handle ekf position reset in Loiter and Brake 2015-10-30 12:24:17 +09:00
Randy Mackay 040ec481f4 AC_WPNav: loiter uses pos_control.shift_pos_xy_target 2015-10-30 12:24:09 +09:00
Randy Mackay c52f16b86f AC_WPNav: increase param description max for LOIT_JERK 2015-10-29 12:16:30 +09:00
Randy Mackay 49c4a133d7 AC_WPNav: set jerk separately for wpnav and loiter 2015-10-29 12:10:47 +09:00
Jonathan Challinger 853f8bfaf4 AC_WPNav: stop gradually in loiter 2015-10-28 20:21:55 +09:00
Leonard Hall 5ab2a19173 AC_WPNav: loiter limits lean angle for alt loss 2015-09-07 15:10:11 +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
Andrew Tridgell f6f2973acd AC_WPNav: make changes in WPNAV_ACCEL take effect immediately 
this makes it easier to tune the waypoint controller in auto mode
 2015-08-31 11:10:35 +10:00
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 fb9cc124c8 AC_WPNav: replace hardcoded 0.02 with pos_control dt 2015-08-05 14:14:54 +09:00
Leonard Hall 8195f45d6c AC_WPNav: fix spline height loss 2015-08-05 14:14:49 +09:00
Randy Mackay aa7a151fe5 AC_WPNav: init flags 
Resolves Coverity warning
 2015-06-08 14:46:39 +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
Randy Mackay 7056484ef0 Copter: fix spline overshoot 2015-05-13 22:40:06 +09:00
Andrew Tridgell c08b62f9e4 AC_WPNAV: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Tom Pittenger 7fd285f483 AC_WPNav: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger 1b84bbc3e7 AC_WPNav: Compiler warnings: add in the appropriate whitrespace 2015-05-05 13:27:02 +10:00
Tom Pittenger 913d00f525 AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Jonathan Challinger 2b29060a4e AC_WPNav: remove unused set_loiter_velocity 2015-05-01 16:46:53 +09:00
Randy Mackay 33431acaa4 AC_WPNav: protect against div-by-zero related to gnd_speed_limit 2015-04-28 13:53:19 +09:00
Paul Riseborough 7481217445 AC_WPNav: Improve application of EKF optical flow speed limit 2015-04-28 13:53:17 +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 fd55068620 AC_WPNav: fix double-twitch on stop in loiter 2015-04-14 14:50:55 +09:00
Jonathan Challinger 1da410a6c6 AC_WPNav: allow user to tune loiter 2015-04-14 14:50:53 +09:00
Randy Mackay fc4442bf61 AC_WPNav: rename xy_mode 2015-02-06 17:00:57 +09:00
Jonathan Challinger 626521c366 AC_WPNav: update usage of update_xy_controller 2015-02-06 17:00:53 +09:00
Jonathan Challinger 6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
Jonathan Challinger 5438d38df5 AC_WPNav: provide reset_I to init_xy_controller 2014-12-31 14:03:16 +09:00
Randy Mackay 4a1ba9b186 AC_WPNav: minor const fix 2014-12-27 13:19:32 +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
Clay McClure 71586d40e3 AC_WPNav: minor fix to comments 2014-11-06 11:53:56 +09:00
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 e80328d3a5 AC_WPNav: bug fix sanity check of set_speed_xy 
This corrects a bug that allowed the waypoint speed to be set to zero
 2014-10-21 22:10:22 +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 ad37fc0408 AC_WPNav: WP_SPEED_DN parameter range to 0~500 
Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
 2014-09-18 10:44:33 +09:00
Randy Mackay 1c6606cc58 AC_WPNav: resolve twitch when passing spline waypoints 
The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
 2014-08-28 11:00:51 +09:00
Randy Mackay 3fd2b3b4a1 AC_WPNav: init members to resolve compiler warnings 2014-08-14 11:27:30 +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 c9661cfb09 AC_WPNav: integrate set_desired_velocity_xy function name change 2014-07-06 17:01:10 +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
Randy Mackay ce85d1f6b2 AC_WPNav: use curr pos target as spline origin 
We only use the current target position as origin if the waypoint
controller is active (i..e has been used in the past 1 second).  This is
consistent with how we initialise straight line waypoints
 2014-06-10 20:02:59 +09:00
lthall 8bbce7e658 AC_PosControl: freeze feed forward for alt control in Auto 2014-06-10 20:02:36 +09:00
Randy Mackay f23e94707c AC_WPNav: use fast_atan2 for bearing calcs 2014-06-06 18:51:08 +09:00
Randy Mackay efd6d6dc70 AC_WPNav: spline div by zero fix 
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
 2014-06-05 22:23:38 +09:00
lthall 0912bec8f5 Spline div zero and leash limit fix 2014-06-05 22:23:35 +09:00
Randy Mackay cde7d31dad AC_WPNav: fix divide by zero when origin and dest are same location 2014-05-22 21:18:24 +09:00
Randy Mackay 597d5227f5 AC_WPNav: rename set_loiter_target to init_loiter_target 2014-05-19 12:27:25 +09:00
Randy Mackay e7b3c00767 AC_WPNav: set_loiter_target uses set_xy_target 
Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
 2014-05-19 12:27:20 +09:00
Ju1ien aed5787c1b AC_WPNav: bug fix for loiter init in Hybrid 
AC_PosControl::init_xy_controller() has been added to PosControl and is
called by init_loiter_target.
Hybrid is currently using set_loiter_target function to init the loiter
controller. So we have to call init_xy_controller() by set_loiter_target
function.
What happens otherwise?
In AC_PosControl::update_xy_controller, we update "now" with
now = hal.scheduler->millis();
and, as _last_update_xy_ms has not been updated previously by
init_xy_controller(), we just call init_xy_controller().
So, _dt_xy  will be negative and used anyways in all the functions and
PID called by update_xy_controller.
That will avoid at least _accel_target.x/y to be set to 0 but I'm not
sure for the high values, probably an I_term that is not reset and
reached very high value.
Or maybe a cast error somewhere... no clue at all
 2014-05-19 12:27:16 +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
lthall b38c484874 AC_WPNav: add LOIT_JERK parameter 
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 7dd366d84e AC_WPNav: init_loiter sets speed, accel before calcing stopping distance 
The stopping distance depends upon the speed and acceleration so these
must be updated first
 2014-04-30 21:46:18 +09:00