Randy Mackay
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
2014-08-05 09:11:57 +09:00
Randy Mackay
e550c1e9a3
AC_PosControl: add set_alt_target_to_current_alt method
2014-08-04 16:54:04 +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
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
2014-06-10 20:02:46 +09:00
lthall
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
2014-06-10 20:02:36 +09:00
lthall
0d87298221
AC_PosControl: freeze feed forward and vector fixes
2014-06-10 20:02:33 +09:00
Randy Mackay
2b0f142a17
AC_PosControl: fix typo in D-filter definition
2014-05-29 17:50:48 +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
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
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
9c6995d8bb
AC_PosControl: add get_accel_z method
2014-04-22 23:05:08 +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
dd45647626
AC_PosControl: update some comments re leash lengths
2014-03-17 10:13:02 +09:00
Randy Mackay
9130c88f15
AC_PosControl: throttle rate to simple P controller
2014-02-16 13:35:44 +11:00
Randy Mackay
94fb9c4274
AC_PosControl: replace APM_PI with AC_P
2014-02-15 06:09:08 +11:00
Randy Mackay
78c12eaebf
AC_PosControl: get_pos_xy_kP accessor method
2014-02-15 05:27:50 +11:00
Randy Mackay
8b8d6a8e01
AC_PosControl: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
551836c49d
AC_PosControl: make some methods const
2014-02-15 05:27:40 +11:00
Randy Mackay
26b257c8ba
AC_AttControl: alternative get_stopping_point_z
2014-02-15 05:27:39 +11:00
Randy Mackay
171203370f
AC_PosControl: add accessor for speed_up and down
2014-02-15 05:27:37 +11:00
Randy Mackay
de34359808
AC_PosControl: recalculate leash when speed or accel modified
2014-02-15 05:27:37 +11:00
Randy Mackay
bbcf8cc84c
AC_PosControl: add horizontal pos control
2014-02-15 05:27:35 +11:00
Randy Mackay
3ce1c0a9d5
AC_PosControl: add get_alt_error method
2014-02-15 05:27:34 +11:00
Randy Mackay
8988b48ad8
AC_PosControl: add init take-off
2014-02-15 05:27:34 +11:00
Randy Mackay
dcac124105
AC_PosControl: add throttle controller
2014-02-15 05:27:33 +11:00
Randy Mackay
05bb943a69
AC_AttControl: first draft of PosControl class
2014-02-15 05:27:33 +11:00
