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12,378 Commits 71 Branches 510 Tags 771 MiB
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101 Commits

Author SHA1 Message Date
Robert Lefebvre
26be7aed97 AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms 2014-07-08 20:18:13 +09:00
Randy Mackay
82ed70b25e AC_PosControl: add xyz velocity controller 
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward).  These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
 2014-07-06 17:01:02 +09:00
Randy Mackay
0c9a496262 AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter 
Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
 2014-06-10 21:25:33 +09:00
Randy Mackay
46f25c52a4 AC_AttControl: allow enabling/disabling feedforward and accel limiting 2014-06-10 20:03:02 +09:00
Randy Mackay
130eb07d48 AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel 2014-06-10 20:02:58 +09:00
Randy Mackay
02b4b21f67 AC_AttControl: disable feed forward by default 
Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
 2014-06-10 20:02:55 +09:00
Randy Mackay
b57c0dabf6 AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled 
We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not.  This is related to separate from the
body-frame-feed-forward.
 2014-06-10 20:02:54 +09:00
Randy Mackay
2bb30b3ef9 AC_AttControl: add set_yaw_target_to_current_heading method 2014-06-10 20:02:49 +09:00
Randy Mackay
d9c966c927 AC_AttControl: RATE_FF_ENAB param to disable rate feed forward 2014-06-10 20:02:48 +09:00
Randy Mackay
4d4c7a2118 AC_AttControl: move freeze_ff to flags structure 2014-06-10 20:02:46 +09:00
Randy Mackay
a662f87ffb AC_AttControl: remove resolved To-Do 
This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
 2014-06-10 20:02:45 +09:00
Randy Mackay
7f734f38d6 AC_AttControl: add earth frame angle constraints 
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
 2014-06-10 20:02:43 +09:00
Randy Mackay
698cf934b8 AC_AttControl: formatting fixes 2014-06-10 20:02:42 +09:00
lthall
2bb63857fa AC_AttControl: clean up stabilize 2014-06-10 20:02:40 +09:00
lthall
c24d293e1b AC_AttControl: zero _accel_xyz_max stops feed forward 
Also added place holder for turning off feed forward.
 2014-06-10 20:02:39 +09:00
lthall
8bbce7e658 AC_PosControl: freeze feed forward for alt control in Auto 2014-06-10 20:02:36 +09:00
lthall
922026c15c AC_AttControl: rate compensation for yaw 2014-06-10 20:02:34 +09:00
lthall
0d87298221 AC_PosControl: freeze feed forward and vector fixes 2014-06-10 20:02:33 +09:00
Randy Mackay
5209598459 AC_AttControl: rename init_targets to relax_bf_rate_controller 2014-06-10 20:02:27 +09:00
lthall
1bdde31f6b Copter: Fix zero throttle flip issue Stabilize 
The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
 2014-06-10 20:02:01 +09:00
Randy Mackay
2b0f142a17 AC_PosControl: fix typo in D-filter definition 2014-05-29 17:50:48 +09:00
Randy Mackay
7e3213edbf AC_AttControl: increase default accel max 2014-05-29 17:40:26 +09:00
Randy Mackay
29ca7a10df AC_PosControl: set alt hold accel control D term filter 2014-05-29 17:40:23 +09:00
Randy Mackay
0969e464fb AC_AttControl: set roll, pitch, yaw rate control D term filters 2014-05-29 17:40:17 +09:00
Robert Lefebvre
7c9249de93 AC_AttitudeControl_Heli: Change to use AC_HELI_PID class instead of AC_PID. Remove FF parameters from class. 2014-05-29 17:39:06 +09:00
Randy Mackay
c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay
cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay
0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00
Randy Mackay
71fae1e6f2 AC_AttControl: lean_angle_max accessor fn const 2014-05-08 16:15:36 +09:00
lthall
21c93e48ab AC_PosControl: include vel error when get_stopping_point_z 
Pair programmed with Randy
 2014-05-08 16:15:24 +09:00
Randy Mackay
a1f1dd8059 AC_PosControl: add is_active_z method 
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
 2014-05-08 16:15:22 +09:00
Randy Mackay
937e9ea687 AC_PosControl: add set_target_to_stopping_point_xy method 
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
 2014-04-30 21:46:20 +09:00
Randy Mackay
9f63de9b59 AC_PosControl: set_speed_z accepts positive descent speeds 2014-04-30 21:46:09 +09:00
Randy Mackay
098f8169b0 AC_PosControl: add keep_xy_I_terms method 
Stops horizontal PID's I terms from being reset when the controller is
next updated
 2014-04-23 15:00:12 +09:00
Ju1ien
6c71569775 AC_PosControl: update_xy_controller allows not resetting I term 2014-04-23 14:59:49 +09:00
Randy Mackay
09a35cf90f AC_PosControl: bugfix for freezing I-term build-up 2014-04-23 11:33:53 +09:00
Randy Mackay
9c6995d8bb AC_PosControl: add get_accel_z method 2014-04-22 23:05:08 +09:00
Randy Mackay
e565ee6d33 AC_PosControl: stop I term build-up when motors at max 2014-04-22 23:05:06 +09:00
Randy Mackay
6f6c9e2585 AC_PosControl: bug fix to vertical speed limit 
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
 2014-04-21 21:36:02 +09:00
Randy Mackay
7e376bc517 PosControl: update_pos_controller renamed to update_xy_controller 2014-04-21 13:31:55 +09:00
Randy Mackay
02775e8dc5 AC_PosControl: get_accel_target returns const ref 2014-04-14 11:34:14 +09:00
Randy Mackay
5876a2fe47 AC_AttControl: increase default rp accel to 900deg/s/s 2014-04-07 13:37:08 +09:00
Randy Mackay
b478c3a321 AC_AttControl: return angle_ef_targets as const ref 2014-04-07 13:36:49 +09:00
Randy Mackay
90e205c905 AC_PosControl: replace safe_sqrt with pythagorous2 2014-04-01 20:43:51 +09:00
Andrew Tridgell
3b8c6e629d AC_AttitudeControl: updated example for new GPS API 2014-04-01 06:38:25 +11:00
Randy Mackay
3ad635feeb AC_AttControl: 45deg/sec yaw rate for Auto, RTL 2014-03-30 15:44:14 +09:00
Randy Mackay
7bff8e9312 AC_AttControl: constrain earth frame yaw angle error 
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
 2014-03-29 20:42:21 +09:00
Andrew Tridgell
73ae38eaf0 AC_AttitudeControl: fixed example build 2014-03-19 12:13:56 +09:00
Randy Mackay
dd45647626 AC_PosControl: update some comments re leash lengths 2014-03-17 10:13:02 +09:00
Holger Steinhaus
345115fddd AC_PosControl: fixed leash length calc for descent speed 2014-03-17 10:12:47 +09:00