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246 commits

Author SHA1 Message Date
Pawel Spychalski (DzikuVx)
e7387df0f8 Initial cut for NAV yaw adjustments with separate PID controller on FW 2019-12-06 14:37:50 +01:00
hali9
a3c4ae2a34
Update navigation.c 2019-12-03 21:00:01 +01:00
Konstantin Sharlaimov
270c3d5867
Merge pull request #5226 from hali9/wp-linear-climb-dive 
WP linear climb dive
 2019-11-29 08:22:45 +01:00
hali9
15a536e2f2
WP linear climb dive 2019-11-27 22:58:09 +01:00
Jonathan Hudson
7f5288ed0a offsetHome 2019-11-21 20:56:22 +00:00
Jonathan Hudson
41b2d112b8 add Cli.md description for rth home offsets 2019-11-19 19:25:14 +00:00
Jonathan Hudson
af6d5ee76d add rth home offset option 2019-11-18 22:11:26 +00:00
Pawel Spychalski (DzikuVx)
c538e2eb58 Cleanup debugs and USE_ defines that are always on 2019-10-31 21:04:05 +01:00
Konstantin (DigitalEntity) Sharlaimov
8aa47b7d99 [NAV] Allow setting waypoint_safe_distance=0 to disable the check 2019-08-14 21:35:33 +02:00
Ken Imhof
0a67e5a1c0
Update navigation.c 2019-08-05 19:18:15 -07:00
Konstantin Sharlaimov (DigitalEntity)
c35cec49c3 [RTH] Make forced RTH (failsafe) abort launch mode 2019-06-10 21:35:05 +02:00
Konstantin Sharlaimov (DigitalEntity)
00e018506d [RTH] Fix incorrect RTH_MAX_ALT 2019-06-04 20:09:05 +02:00
Konstantin Sharlaimov
4569ada9be
Merge pull request #4778 from iNavFlight/de_refactor_linear_descent 
[RTH] Refactor linear RTH descent; Fix initial altitude bug
 2019-06-04 17:19:52 +02:00
Michel Pastor
edf2ca0460 [RTH] Possible fix for updateDesiredRTHAltitude() 2019-06-04 04:38:09 +02:00
Michel Pastor
d23c161e59 [RTH] minor readability improvements 2019-06-04 04:15:05 +02:00
Konstantin Sharlaimov (DigitalEntity)
19faf75e75 [RTH] Refactor RTH code to respect initial/final/hover RTH altitudes 2019-06-03 21:41:23 +02:00
Michel Pastor
b3f2b840a4 Increase default FW max bank angle from 20 to 35° 2019-06-03 15:37:02 +02:00
Konstantin Sharlaimov (DigitalEntity)
58a51c28b0 [RTH] Linear descent further refactoring [ci skip] 2019-06-02 22:52:45 +02:00
Konstantin Sharlaimov (DigitalEntity)
76ecb84bd4 [RTH] Refactor linear RTH descent; Fix initial altitude bug 2019-06-01 19:42:06 +02:00
Michel Pastor
2fe116d2cb
Clean/improve GSM SMS telemetry code (#4739) 2019-05-25 21:55:01 +02:00
Olivier C
468a040801 OSD Hud + LoRa radar (nearby aircrafts) (#4558) 2019-05-24 15:37:54 +02:00
Michel Pastor
644259f936
Add the AT_LEAST_LINEAR_DESCENT RTH altitude mode (#4188) 2019-05-09 14:50:15 +02:00
Konstantin Sharlaimov
ff7ca472ca
Merge pull request #4603 from iNavFlight/de_yg_surface_mode_experimental 
Add accelerometer weight to position estimation
 2019-05-04 21:26:14 +02:00
Alberto García Hierro
20fac46ee0 Use an STATE() flag instead of an static variable in navigation.c 
Also, make the check for setting the STATE() flag clearer. Previous
implementation was a bit confusing.
 2019-04-25 13:59:20 +01:00
Alberto García Hierro
dc6d002bdc Add support for bypassing extra arming safety 
In order to bypass the checks, users must set the new
nav_extra_arming_safety value ALLOW_BYPASS and arm with a switch
while holding yaw high. If this is used to arm the craft, the checks
are skipped until the next power cycle in order to allow rearming
quickly in case of an accidental mid air disarm.

Also, the "NAVIGATION IS UNSAFE" OSD message has been replaced
with more specific messages which tell the user the exact reason
why the navigation system is blocking arming.
 2019-04-25 13:14:08 +01:00
Pawel Spychalski (DzikuVx)
b8ba10b860 Review changes 2019-04-20 18:44:43 +02:00
Pawel Spychalski (DzikuVx)
32eeefad1b Convert all NAV P-controllers to PIDFF without the possibility to change settings 2019-04-19 11:10:07 +02:00
giacomo892
8fb7930522
Merge pull request #4617 from giacomo892/32bit_max_distance_giacomo892 
Change GPS distance from home to 32bit
 2019-04-17 09:47:18 +02:00
giacomo892
ef03ffe55a max distance from 16bit to 32bit 2019-04-16 18:01:46 +02:00
Konstantin Sharlaimov (DigitalEntity)
0c45b3a8ae Add terrain follow to navFlags 2019-04-13 22:19:27 +02:00
Konstantin Sharlaimov (DigitalEntity)
926219c632 Fix emergency landing not engaging from initial RTH climb 2019-04-06 16:28:00 +02:00
Pawel Spychalski (DzikuVx)
e01d16a81d Correctly reset Dterm filter 2019-03-16 11:07:13 +01:00
Pawel Spychalski (DzikuVx)
ddff19f399 Make VelXY Dterm LPF user configurable 2019-03-16 10:58:57 +01:00
hali9
5b25cfc583 CLI the wp CLI command to manage waypoints (#4473) 2019-03-15 16:12:18 +01:00
Paweł Spychalski
a86dde56ae
Merge pull request #4483 from iNavFlight/dzikuvx-f7-speedup-iteration-2 
Second iteration of making F7 fast
 2019-03-15 13:49:59 +01:00
Pawel Spychalski (DzikuVx)
15cdc109f9 Remove PosHold support settings from PID bank 2019-03-09 19:06:51 +01:00
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
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