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11450 commits 191 branches 113 tags 511 MiB
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361 commits

Author SHA1 Message Date
Pawel Spychalski (DzikuVx)
7faeb47532 Second iteration of makinf F7 fast 2019-03-09 14:39:00 +01:00
Paweł Spychalski
c64a63b504
Convert XY VEL TO ACC controller to use feed forward component (#4326) 
* modify navPidApply3 to use linear FF component

* store FF component in BB log

* Make VEL_XY FF component configurable

* change scaling for PID_VEL_XY FF component

* MSP2_PID frame to setup FF component

* Set default VEL XY FF to 40
 2019-03-09 09:22:50 +01:00
Pawel Spychalski (DzikuVx)
c66241d9ac Set max allowed altitude for both FW and MR 2019-03-03 11:15:45 +01:00
Krzysztof Matula
03f1ab91bf Don't use POS and YAW controller when landed. 2019-02-21 18:16:56 +01:00
Krzysztof Matula
3701c67a4b Prevent unexpected takeoff in RTH LANDED state. 2019-02-17 22:54:27 +01:00
Konstantin Sharlaimov (DigitalEntity)
72f6c0acda Move braking mode code to multicopter-specific code; Fix issue with incorrect boostFactor calculation; Make sure braking mode is correctly reset when we switch out of navitation modes or reset position controller 2019-02-09 18:19:20 +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
Konstantin Sharlaimov (DigitalEntity)
176a80f242 [NAV] Fix failsafe RTH getting stuck if RTH->other_NAV_mode transition is not handled 2019-01-07 20:55:45 +01:00
Alberto García Hierro
3cf574f043
Merge pull request #4116 from iNavFlight/agh_calculate_path_to_destination 
Add navCalculatePathToDestination() function
 2019-01-06 22:08:38 +00:00
Michel Pastor
2ea3f50e5e Fix fly time bug 
Closes #4141
 2019-01-06 00:15:30 +01:00
Alberto García Hierro
4df6e9aca9 Add navCalculatePathToDestination() function 
Calculates distance and bearing to the given location in local
coordinate space.

Added navDestinationPath_t, which encapsulates distance and
bearing.

Refactor calculateDistanceToDestination() and
calculateBearingToDestination() a bit to move the calculations to
static functions that can be reused by navCalculatePathTo()
 2018-12-26 12:03:33 +00:00
Alberto García Hierro
c750b5dfd2 Cleanup geo* functions 
- Rename gpsOrigin_s type to gpsOrigin_t
- Make geo* conversion functions return wether they succeeded or not
- Reorder geo* functions arguments to follow the (output, inputs)
convention
- Document all the geo* functions
 2018-12-26 11:56:37 +00:00
Michel Pastor
f732d3a90a Fix build warnings 2018-12-05 00:56:30 +01:00
Pawel Spychalski (DzikuVx)
b803ae6391 small refactoring of braking entry-leave conditions 2018-10-05 14:28:07 +02:00
Pawel Spychalski (DzikuVx)
507b832263 Merge remote-tracking branch 'origin/development' into dzikuvx-mr-cruise-experiments 2018-09-16 09:34:20 +02:00
Konstantin Sharlaimov (DigitalEntity)
0bf51debd4 Fix failsafe RTH not activating from CRUISE mode if sticks were not centered 2018-08-17 22:29:38 +02:00
Pawel Spychalski (DzikuVx)
bf626e2ec1 Braking disabled on Omnibus target 2018-08-07 14:13:12 +02:00
Pawel Spychalski (DzikuVx)
9212209d96 Merge branch 'development' into dzikuvx-mr-cruise-experiments 2018-08-07 09:46:58 +02:00
Michel Pastor
c949d19725 Remove all trailing whitespaces in .c and .h files 2018-08-06 15:54:20 +02:00
Konstantin Sharlaimov
468502539a
Merge pull request #3654 from shellixyz/limit_descent_to_home_altitude_to_max_auto_climb_rate 
Limit the climb/descent rate from RTH alt. to desired home alt.
 2018-07-26 21:36:10 +02:00
Michel Pastor
606155da27 Limit the climb/descent rate from RTH alt. to desired home alt. to the max auto climb rate setting 2018-07-26 18:21:53 +02:00
Konstantin Sharlaimov
4cfe65e46e
Merge pull request #3648 from shellixyz/fix_emergency_landing_message 
Fix the OSD emergency landing warning message
 2018-07-25 20:44:35 +02:00
Michel Pastor
49873acc9a Fix the OSD emergency landing warning message 2018-07-25 18:00:57 +02:00
giacomo892
664da6f104 increase navConfig PG version 2018-07-24 13:46:03 +02:00
giacomo892
440514087b make navTargetPos int32_t to allow logging of altitudes higher than 327m 2018-07-16 21:26:53 +02:00
Konstantin Sharlaimov
6cc3d2900d
Merge pull request #3349 from iNavFlight/de_nav_motor_stop 
New setting for disabling motor_stop in NAV modes
 2018-07-15 18:20:13 +02:00
Alberto García Hierro
878a2aab51
Merge pull request #3533 from shellixyz/improve_readability 
Improve readability
 2018-07-11 20:43:37 +01:00
Michel Pastor
726a51ecd2 Improve readability 2018-07-11 20:24:01 +02:00
Alberto García Hierro
c1bcd75d20
Merge pull request #3513 from giacomo892/BBPosZ_fix 
Remove posZ constrain to int16 for BB
 2018-07-07 21:07:18 +01:00
Pawel Spychalski (DzikuVx)
1231df9654 Merge branch 'development' into dzikuvx-mr-cruise-experiments 2018-07-04 17:08:56 +02:00
giacomo892
c1fc5480d0 Remove posZ constrain 2018-07-04 15:34:08 +02:00
Konstantin (DigitalEntity) Sharlaimov
1354cce0db New setting for disabling motor_stop in NAV modes 2018-06-30 17:14:36 +02:00
Alberto García Hierro
53110d0b18
Merge pull request #3379 from shellixyz/require_turn_assistant_for_NAV_CTL_ALT 
FW: Require turn assistant for nav modes using NAV_CTL_ALT
 2018-06-27 19:13:40 +01:00
Michel Pastor
2d8c289b21 Fix POSHOLD mode 2018-06-27 17:40:19 +02:00
Michel Pastor
3b6a845b71 Implement the nav_rth_home_altitude setting 
The aircraft will go to set altitude after reaching home
 2018-06-25 15:37:35 +02:00
Michel Pastor
c9a69a6232 Add cruise mode heading change and heading error OSD indicators 2018-06-23 00:06:16 +02:00
Michel Pastor
7545ae57fa Nav PID logging fixes 2018-06-19 15:31:49 +02:00
Paweł Spychalski
9b2738505a
Merge pull request #3326 from shellixyz/fw_nav_pids_logging 
Add BB logging of FW navigation PIDs
 2018-06-19 08:27:34 +02:00
Michel Pastor
1c47fb6051 Add navigation PID controllers logging for FW and MR 2018-06-19 00:10:10 +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
Michel Pastor
83148a04d2 Add remaining flight time/distance calculations and OSD items 2018-06-17 23:10:21 +02:00
Michel Pastor
68acbcb12d FW: Require turn assistant for nav modes using NAV_CTL_ALT 2018-06-17 00:52:51 +02:00
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
Konstantin Sharlaimov
3d460ce4f3
Merge pull request #3336 from iNavFlight/agh_round_home_direction 
Round rather than truncate when updating GPS_directionToHome
 2018-06-15 21:09:15 +02:00
Konstantin Sharlaimov
ee73372cf6
Merge pull request #3350 from iNavFlight/yg_de_posest_and_opflow 
Refactor position estimation code.
Add support for optic flow for position estimation (not recommended to be used at the moment, barely tested)
 2018-06-15 20:23:45 +02:00
Michel Pastor
f046554d97 Disable ALTHOLD on user motor stop request 2018-06-13 18:16:58 +02:00
Pawel Spychalski (DzikuVx)
aad6cedaa9 configurable braking bank angle 2018-06-13 13:30:37 +02:00
Pawel Spychalski (DzikuVx)
8132e59b7e Merge remote-tracking branch 'origin/development' into dzikuvx-mr-cruise-experiments 2018-06-13 11:56:51 +02:00