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14852 commits 189 branches 113 tags 511 MiB
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162 commits

Author SHA1 Message Date
Airwide
9ef10703de Added deadband to fixedWingPitchToThrottleCorrection for testing 2020-09-05 23:26:34 +02:00
Konstantin (DigitalEntity) Sharlaimov
d2f05b7e23 [NAV] Cleanup pos/vel controllers 2020-07-23 13:19:04 +02:00
Pawel Spychalski (DzikuVx)
cb0f1e83aa Merge branch 'development' into dzikuvx-nav-cruise-improvements 2020-05-30 10:42:13 +02:00
Harry Kalogirou
ac39fe1cc7 Refactor code to use common function that take a base frequency 2020-05-01 14:56:41 +03:00
Harry Kalogirou
52daaa789e more accuracy for smoothness factor at low values 2020-05-01 00:28:53 +03:00
Harry Kalogirou
d41d1fc510 Apply low pass filters with configurable value 2020-05-01 00:28:53 +03:00
Pawel Spychalski (DzikuVx)
c58e28c709 Heading controller 2020-04-13 19:21:05 +02:00
Pawel Spychalski (DzikuVx)
eff264f515 WIP: 2D position controller 2020-04-13 16:39:28 +02:00
Jacky2k
6eda2af359
Waypoint hold time feature (#5398) 
* Added support for waypoint hold time
 2020-03-09 14:21:26 +00:00
Pawel Spychalski (DzikuVx)
ae774017da Merge branch 'development' into dzikuvx-nav-cruise-improvements 2020-03-05 15:10:49 +01:00
Pawel Spychalski (DzikuVx)
5cd01ab963 Fix double zeroing 2020-03-05 11:44:31 +01:00
Pawel Spychalski (DzikuVx)
e3b0327657 Merge branch 'development' into dzikuvx-nav-yaw-adjustments 2020-02-20 10:25:00 +01:00
Pawel Spychalski (DzikuVx)
f30a212378 Attenuate VEL_XY when UAV is traveling at high speed 2020-01-19 20:50:39 +01:00
Pawel Spychalski (DzikuVx)
d234324cff Refactor HDG controller usages 2019-12-27 13:34:54 +01:00
Pawel Spychalski (DzikuVx)
c5bc1903f7 Add deadband 2019-12-26 18:19:52 +01:00
Pawel Spychalski (DzikuVx)
f80e44ac41 Change YAW NAV pid scaling and Dterm type 2019-12-26 11:50:07 +01:00
Pawel Spychalski (DzikuVx)
746d7423e8 Make yaw controller configurable 2019-12-26 11:10:53 +01:00
Pawel Spychalski (DzikuVx)
4fd2149e2b Drop min_throttle in favor of throttle IDLE percent 2019-12-22 21:33:19 +01:00
Pawel Spychalski (DzikuVx)
e7387df0f8 Initial cut for NAV yaw adjustments with separate PID controller on FW 2019-12-06 14:37:50 +01:00
Michel Pastor
644259f936
Add the AT_LEAST_LINEAR_DESCENT RTH altitude mode (#4188) 2019-05-09 14:50:15 +02:00
Michel Pastor
4675d95637 Change previousHeadingError type from float to int32_t 2019-01-21 20:42:20 +01:00
Alberto García Hierro
0f4e74cd04 Replace ABS(float) with fabsf(float) 
Disregarding loads and stores, fabfs() compiles to a single vabs.f32
instruction, which completes in 1 cycle. ABS(float), however, compiles
to vcmpe.f32, a branch and vneg.f32, which needs 2 cycles + branching.
The compiler is not able to perform this transformation because
(f < 0 ? -f : f) doesn't always yield the absolute value for
floats (e.g. ABS(-0) will yield -0).
 2019-01-19 17:33:33 +00:00
hali9
69970a2b95 Loiter direction (#4036) 
* Loiter direction
https://github.com/iNavFlight/inav/issues/3002
 2019-01-08 08:26:06 +01:00
JunwooHWANG
169f349c05
Remove redundant isAdjustingPosition var From nav_fw 
Redundant, since line 252 already checks if 'posControl.flags.isAdjustingPosition' is true.
 2018-11-27 23:28:03 +09:00
Michel Pastor
c9a69a6232 Add cruise mode heading change and heading error OSD indicators 2018-06-23 00:06:16 +02:00
Alberto García Hierro
b665c48616
Merge pull request #3278 from shellixyz/manual_throttle_increase_in_auto_throttle_modes_clean 
FW: Allow manual throttle increase in auto controlled modes
 2018-06-18 20:03:48 +01:00
Michel Pastor
792a32febb FW: Allow manual increase of throttle in auto controlled modes 2018-06-18 18:03:46 +02:00
Alberto García Hierro
3e18c56c17
Merge pull request #3298 from shellixyz/disable_althold_on_zero_throttle 
Disable ALTHOLD on user motor stop request
 2018-06-18 17:03:26 +01:00
giacomo892
46ef27db85 Implement CRUISE MODE for Fixed Wing (#3311) 
* Nav cruise mode (2D/3D)
* CRUISE FLM on LTM telemetry
 2018-06-16 18:27:22 +02:00
Michel Pastor
f046554d97 Disable ALTHOLD on user motor stop request 2018-06-13 18:16:58 +02:00
Michel Pastor
b2ef281619 Fix and simplify applyFixedWingPitchRollThrottleController() 
Should only control pitch and throttle when nav stateFlags & NAV_CTL_ALT
Needed for upcoming CRUISE 2D mode
 2018-05-31 01:17:00 +02:00
Konstantin Sharlaimov (DigitalEntity)
73f773f23e Remove POSHOLD_2D mode (POSHOLD now implies ALTHOLD); Initial cut on surface tracking modifier 
Direct altitude control
 2018-05-13 20:20:45 +10:00
Konstantin Sharlaimov
e174e5a48d
Initial cut on full quaternion IMU conversion (#2894) 
* Initial cut on full quaternion/vector IMU conversion
* More accurate quaternion integration
* Refactor vector struct per @ledvinap suggection
* Implement rotation matrix from axis/angle; Refactor mag declination to have orientation correspond to RPY angles
* Use magnetic North vector as a reference
 2018-03-15 00:19:53 +10:00
shellixyz
fd40892d8e Replace PASSTHROUGH with MANUAL flight mode (FW) (#2661) 
* FW: add manual flight mode
* manual mode: separate roll and pitch expo
* manual flight mode: cleaning
* replace PASSTHRU mode with MANUAL mode
* manual mode: merge pitch and roll expo
* manual mode: add OSD menu for manual rates and expo
* manual mode: forgot to add yaw rate adjustment in OSD menu
* manual mode: add adjustments
* manual mode: move rates applications in fc_core
* group controlRateConfig settings by function
* group controlRateConfig settings by function: fix ALIENFLIGHTF3 default rates config
* manual mode rc adjustments: adapt to fc723121 changes
* manual mode: clean rc adjustments
* add new MSPv2 messages: MSP2_INAV_RATE_PROFILE and MSP2_INAV_SET_RATE_PROFILE
 2018-01-31 19:44:43 +10:00
Alberto García Hierro
d5ba9c4eec Rename a few more flags 
NAV -> USE_NAV
FIXED_WING_LANDING -> NAV_FIXED_WING_LANDING
ASYNC_GYRO_PROCESSING -> USE_ASYNC_GYRO_PROCESSING
BOOTLOG -> USE_BOOTLOG
STATS -> USE_STATS
 2017-12-04 15:28:31 +00:00
Konstantin Sharlaimov (DigitalEntity)
2c65d2273e Initial cut of AGL 
Optimize and refactor

Refactoring
 2017-11-15 12:40:12 +10:00
Martin Budden
9a8ff69430 Added void to function declarations/definitions where required 2017-09-24 09:24:56 +01:00
Konstantin Sharlaimov
d40fb2bdf4 Merge pull request #1978 from iNavFlight/de_fw_tecs_1 
Fixed wing TECS controller preparation (stage 1)
 2017-09-06 10:08:39 +10:00
Konstantin Sharlaimov (DigitalEntity)
8666edc80e Fix bugs in gain scaling; Allow gain scaling for NAV PID 2017-09-05 23:52:42 +10:00
Konstantin Sharlaimov (DigitalEntity)
562f1403f5 Fix a bug when landing controller took over the altitude control on a FW if below certain altitude 2017-08-30 21:38:15 +10:00
Alberto García Hierro
6cb63ad88f Fix incorrect comment 
PITCH angle during FW is not hardcoded anymore, it's specified
by nav_fw_land_dive_angle
 2017-08-18 00:01:32 +02:00
Konstantin Sharlaimov (DigitalEntity)
89e86bbc8b Minor fixes 2017-08-06 23:19:35 +10:00
Konstantin Sharlaimov (DigitalEntity)
9524fd7f7e Airspeed gain 2017-08-06 20:52:13 +10:00
Konstantin Sharlaimov (DigitalEntity)
cda5940838 Change FW altitude controller to operate energy balance instead of raw altitude 2017-08-06 20:13:13 +10:00
Martin Budden
fd7d770fb1 Whitespace tidy 2017-07-05 07:42:07 +01:00
Pawel Spychalski (DzikuVx)
280e1895af Landing: configurable dive angle 2017-06-02 09:31:37 +02:00
Pawel Spychalski (DzikuVx)
2869d885f0 Landing improvements only on targets with enought flash size 2017-06-02 09:31:37 +02:00
Pawel Spychalski (DzikuVx)
d729e73a7d glide in last phase of automated landing 2017-06-02 09:31:37 +02:00
Pawel Spychalski (DzikuVx)
ae2aff0b3d Lock roll in zero position during final approach 2017-06-02 09:31:37 +02:00
Pawel Spychalski (DzikuVx)
65f685ccff refactoring 2017-06-02 09:31:37 +02:00