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
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examples/AC_WPNav_test	AC_WPNav: fix example sketch	2014-05-08 16:25:13 +09:00
AC_Circle.cpp	Copter: reduce Circle init twitch by using stopping point	2014-05-08 16:15:57 +09:00
AC_Circle.h	Copter: reduce Circle init twitch by using stopping point	2014-05-08 16:15:57 +09:00
AC_WPNav.cpp	AC_WPNav: bug fix for loiter init in Hybrid	2014-05-19 12:27:16 +09:00
AC_WPNav.h	AC_WPNav: bug fix for loiter and waypoint update rate	2014-05-12 20:13:46 +09:00
keywords.txt	AC_WPNav: first implementation	2013-04-14 10:34:47 +09:00