Randy Mackay
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
...
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
2018-03-16 13:50:57 +09:00
Randy Mackay
01d1d41302
Sub: integrate attitude control inertial_frame_reset
2018-03-16 13:50:57 +09:00
Randy Mackay
2154d08185
Sub: remove setting of pos-con jerk
2018-03-16 13:50:57 +09:00
Randy Mackay
2697e19513
Sub: guided removes xy mode from calls to pos-con
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Also always limit angle to maintain altitude
2018-03-16 13:50:57 +09:00
Randy Mackay
da17034a3d
Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
Leonard Hall
a727305a59
Copter: integrate attitude control EKF inertial-frame-reset
2018-03-16 13:50:57 +09:00
Randy Mackay
f368ff6664
Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC
2018-03-16 13:50:57 +09:00
Leonard Hall
8ac653cabf
Copter: AutoTune integrate renamed use_sqrt_controller
2018-03-16 13:50:57 +09:00
Randy Mackay
853d7ab573
Copter: remove setting of pos-con jerk
2018-03-16 13:50:57 +09:00
Leonard Hall
7511781a7e
Copter: add accel target to NTUN log msg
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Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
2018-03-16 13:50:57 +09:00
Leonard Hall
f9acc8a666
Copter: guided removes xy mode in calls to pos-con
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Also limit angle to hold altitude
2018-03-16 13:50:57 +09:00
Randy Mackay
1a0be015f9
Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration
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Also fix accelerations/lean-angles for land and rtl-land
2018-03-16 13:50:57 +09:00
Leonard Hall
93de23e7c4
Copter: get-pilot-desired-lean-angles accepts another angle-max
2018-03-16 13:50:57 +09:00
Leonard Hall
1540f98888
Copter: add angle inputs to Loiter
2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
Leonard Hall
a356cfa529
AC_Circle: init resets desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
2018-03-16 13:50:57 +09:00
Leonard Hall
1c0678226c
AC_WPNav: new loiter including accel ff and braking
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Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
2018-03-16 13:50:57 +09:00
Leonard Hall
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
2018-03-16 13:50:57 +09:00
Leonard Hall
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
dadc6a63c4
AC_PosControl: add set_leash_length_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
e5bc2b26fe
AC_PosControl: add lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
0f3645b061
AC_PosControl: increase velocity gains
2018-03-16 13:50:57 +09:00
Leonard Hall
7ec043502f
AC_PosControl: add accel limit to xy controller
2018-03-16 13:50:57 +09:00
Leonard Hall
bd13704f6f
AC_PosControl: update init for guided
2018-03-16 13:50:57 +09:00
Leonard Hall
85b7f06554
AC_PosControl: combine z position control into single method
2018-03-16 13:50:57 +09:00
Leonard Hall
993e638752
AC_PosControl: combine xy position control into single method
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Also always limit lean angle to maintain altitude
2018-03-16 13:50:57 +09:00
Leonard Hall
74bb7616a7
AC_PosControl: add accel feedforward
...
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
2018-03-16 13:50:57 +09:00
Randy Mackay
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
2018-03-16 13:50:57 +09:00
Randy Mackay
b3de52dc59
AC_AttitudeControl: minor comment fix
2018-03-16 13:50:57 +09:00
Leonard Hall
05418d3d29
AC_AttitudeControl: add EKF reset handling
2018-03-16 13:50:57 +09:00
Leonard Hall
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
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Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
2018-03-16 13:50:57 +09:00
Leonard Hall
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
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also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
59a2445ad3
AC_AttitudeControl: replace smoothing gain with INPUT_TC
2018-03-16 13:50:57 +09:00
Leonard Hall
e1e224b68b
AC_AttitudeControl: add angular velocity limit
2018-03-16 13:50:57 +09:00
Leonard Hall
ee82943f85
AC_AttitudeControl: add input_shaping_rate_predictor
2018-03-16 13:50:57 +09:00
Leonard Hall
6175a896ee
AC_AttitudeControl: add set smoothing gain
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Smoothing gain value should be set once when entering a mode
2018-03-16 13:50:57 +09:00
Leonard Hall
213f7a4061
AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods
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Also constify existing get_accel_roll/pitch/yaw_max methods
2018-03-16 13:50:57 +09:00
Ebin
185f41d5bd
Copter arm_checks(): PreArm in error msg changed to Arm
2018-03-16 09:49:54 +09:00
Michael du Breuil
45410759dc
DataFlash: Log the frame a mission command is planned in
2018-03-16 09:28:20 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
54b3936a46
AP_Beacon: Use marvelmind beacon raw distances on the EKF
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Add support for Marvelmind RAW distance measurements this
requires Marvelmind FW >= 5.77 and "Raw distances data" enabled
in the marvelmind GUI dashboard.
This is better than the previous workaround we had.
2018-03-16 08:23:52 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
29078824fc
AP_Beacon: Replace max_buffered_positions variable with a #define
2018-03-16 08:23:52 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
7df1419579
Copter: add missing MAGNETOMETER and STATS_ENABLED build defines
2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
115ed491c0
Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros
2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
f63388cb07
Sub: Obey RANGEFINDER_ENABLED and AC_TERRAIN build macros
2018-03-15 15:03:22 +00:00
Randy Mackay
89725a7aa5
AR_AttitudeControl: minor comment fix
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non-functional change
2018-03-15 09:58:27 +09:00
Randy Mackay
30ba463f42
Rover: minor comment fix to acro
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non-functional change
2018-03-15 09:58:24 +09:00
Peter Barker
0652c89844
AP_Mount: use dataflash singleton
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Closes #7550
2018-03-15 07:57:50 +09:00
