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48,614 Commits 71 Branches 509 Tags 743 MiB
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653 Commits

Author SHA1 Message Date
Leonard Hall bd04635b08 AC_PosControl: Fix slow target decay decay problem 2023-03-15 19:10:54 +11:00
Leonard Hall 13ea5ab640 AC_AttitudeControl: AC_PosControl: use relax_integrator 2022-01-31 19:40:42 +09:00
Leonard Hall 49cff9affe AC_AttitudeControl: use relax_integrator 2022-01-31 19:40:42 +09:00
Leonard Hall fc97d0b976 AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2022-01-31 19:40:42 +09:00
Leonard Hall 74557c8039 AC_AttitudeControl: AC_PosControl_Sub: Increase Jerk with Accel when out of velocity range 2022-01-31 19:40:42 +09:00
Leonard Hall 06ad6077f3 AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range 2022-01-31 19:40:42 +09:00
Leonard Hall 3da0852bfb AC_AttitudeControl: AC_PosControl: Init desired accel to zero 2022-01-31 19:40:42 +09:00
Leonard Hall ec43282934 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2022-01-31 19:40:42 +09:00
Andrew Tridgell 3233528e37 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:29:57 +11:00
Andrew Tridgell 0ed40ffa8b AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-12-18 12:17:22 +09:00
lthall 2d6ceaff81 AC_AttitudeControl: Fix initialize bug 2021-10-01 14:07:25 -04:00
lthall 76771b1a2b AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-10-01 14:07:25 -04:00
Leonard Hall e80b0355b8 AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:07:37 +09:00
Leonard Hall e0c26afc4a AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:07:37 +09:00
Leonard Hall d942db7a38 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Andrew Tridgell 6d40d5bda0 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 14:41:27 +09:00
Leonard Hall b6c4ccb683 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 14:41:27 +09:00
Leonard Hall bb5b00d920 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 14:41:27 +09:00
Leonard Hall feafbe81a3 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 14:41:27 +09:00
Iampete1 e1972c7132 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 14:41:27 +09:00
Iampete1 ac70c38187 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 14:41:27 +09:00
Andrew Tridgell cc5bfc8375 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 14:41:27 +09:00
Leonard Hall a363468281 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall 0ee9dbc059 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall 2e6e3d7b89 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 10:44:08 +09:00
Leonard Hall 8d41b2225b AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 10:44:08 +09:00
Leonard Hall 9d1a51969b AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 19:07:36 +09:00
Leonard Hall 8e31de412c AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 19:07:36 +09:00
Leonard Hall dbf1020c16 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 19:07:36 +09:00
Leonard Hall b4277c49ca AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 19:07:36 +09:00
Leonard Hall 3bf7e493b4 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 19:07:36 +09:00
Leonard Hall 370b980876 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 19:07:36 +09:00
Leonard Hall a29794ab49 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 19:07:36 +09:00
Leonard Hall 731a6bcb31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Leonard Hall 52166c94fe AC_AttitudeControl: Add terain following to guided 2021-07-22 19:07:36 +09:00
Leonard Hall b6b4d9869c AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 19:07:36 +09:00
Leonard Hall 91e22680a5 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-22 19:07:36 +09:00
Leonard Hall 8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Leonard Hall 5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell 66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell 7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell 5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Leonard Hall 47b0ac663a AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-06-24 09:01:07 +10:00
Leonard Hall ffc64c3042 AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-06-23 10:58:50 +09:00
Leonard Hall d599052da3 AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-06-23 10:29:23 +09:00
Leonard Hall d9529e1be3 AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-06-21 14:14:23 +09:00
Peter Hall 716ceb93c5 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-06-21 09:58:05 +09:00
Hwurzburg 27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
Hwurzburg 3f4d4e45fc AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00