aepko/Ardupilot2
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97 Commits

Author SHA1 Message Date
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
Randy Mackay
0103ae2eb0 AC_WPNav: add WPNAV_ACCEL_Z 
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 
This new method name is consistent with the equivalent in the
AC_PosControl class
 2014-04-30 21:46:06 +09:00
Randy Mackay
ad99918fee AC_WPNav: recalc leash lengths if set_horizontal_velocity is called 
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 
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
72d2712c4e AC_WPNav: integrate update_xy_controller name change 2014-04-21 13:31:58 +09:00
Randy Mackay
60f522a094 AC_WPNav: set_wp_destination to use current target 
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
 2014-04-13 22:42:50 +09:00
Randy Mackay
15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Randy Mackay
b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +09:00
Randy Mackay
d27ca53a9d AC_WPNav: spline sets origin vel to zero when no prev segment 
Issue caught by Michael Oborne
 2014-03-30 15:19:18 +09:00
Randy Mackay
7dfde39e19 AC_WPNav: advance_spline to use dt 2014-03-30 15:02:07 +09:00
Randy Mackay
c0458b786a AC_WPNav: check acceleration is non zero 2014-03-30 11:52:44 +09:00
Randy Mackay
f0f3688172 AC_WPNav: rounder corners for short spline segments 2014-03-30 11:52:41 +09:00
Randy Mackay
197683d539 WPNav: clean up spline comments 2014-03-29 17:57:47 +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
98bdbb7fed AC_WPNav: set loiter accel to 1/2 of speed 
Bug fix from Leonard.
Also fixed some formatting.
 2014-02-20 21:37:45 +09:00
Randy Mackay
9e31f0b985 AC_WPNav: use PosControl accessor 
Saves 2bytes of RAM
 2014-02-15 05:27:50 +11:00
Randy Mackay
d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay
fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point 
Also bug fix to set pos_control's down speed as a negative number
 2014-02-15 05:27:39 +11:00
Randy Mackay
4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay
1596d83d02 AC_WPNav: move leashes to AC_PosControl 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 
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
5767aa47d9 AC_WPNav: reduce leash length for stopping 
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x.  This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
 2013-12-13 22:12:30 +09:00
Randy Mackay
952afd296e Copter: initialise waypoint leash length 
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
 2013-12-12 16:23:37 +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 
never modified
 2013-10-27 13:41:23 +09:00
Tobias
1ecb583dd9 AC_WPNav: replace unnecessary objects with const refs 2013-10-27 13:40:53 +09:00
Randy Mackay
45aeb1a921 Copter: split up loiter into 4 steps 
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 
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
bf5a50f738 WPNav: stopping point projection uses wp_leash 2013-07-11 11:39:44 +09:00
Randy Mackay
345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay
204f613467 WPNav: bug fix to reported distance to target 
This value is for reporting purposes only
 2013-07-10 18:21:08 +09:00
Randy Mackay
518eba0729 WPNav: bug fix to loiter accel calculation 
Contribution from Leonard Hall
 2013-07-10 17:52:12 +09:00
Randy Mackay
c4f17b3235 WPNav: rounding error fix in loiter 
Contributed by Leonard Hall
 2013-07-10 16:24:37 +09:00
Randy Mackay
5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error 
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