Robert Lefebvre
743c5e4fde
AC_AttitudeControl: Remove un-needed #include
2015-01-21 14:36:54 +09:00
Randy Mackay
aeecc46f7b
AC_PosControl: remove unnecessary set of desired_accel
...
The desired_accel is set again 11 lines lower so this line did nothing.
2015-01-14 16:23:26 +09:00
Jonathan Challinger
9ebd0e9960
AC_PosControl: reincarnate dead block of code
2015-01-14 16:20:17 +09:00
Jonathan Challinger
a580cd83e8
AC_PosControl: Fill _vel_desired.z for reporting
2015-01-14 16:08:48 +09:00
Andrew Tridgell
5c4440a9ac
AC_AttitudeControl: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Randy Mackay
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
2015-01-07 14:03:49 +09:00
Randy Mackay
c36253b9b2
AC_PosControl: add comments
...
No functional change
2014-12-31 14:03:22 +09:00
Jonathan Challinger
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
2014-12-31 14:03:18 +09:00
Jonathan Challinger
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
2014-12-31 14:03:13 +09:00
priseborough
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
...
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
2014-12-06 18:16:51 +11:00
priseborough
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
...
Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
2dff76394d
AC_PosControl: Add spike and noise filter to demanded angles
...
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.
Signed-off-by: priseborough <p_riseborough@live.com.au>
2014-12-06 18:16:49 +11:00
Jonathan Challinger
bfe71fea82
AC_PosControl: Use blended accelerometer measurement in altitude control
2014-12-05 19:40:10 +09:00
Randy Mackay
d34ea4c124
AC_PosControl: fix to default force_descend param
2014-11-13 18:40:45 -08:00
Jonathan Challinger
e81c1dd5a1
AC_PosControl: add force_descend option to set_alt_target_from_climb_rate
2014-11-13 18:40:38 -08:00
Randy Mackay
98f5a93e10
AC_AttControl: remove unused logging structure
2014-11-08 10:17:32 +09:00
Randy Mackay
ac7ea2a12c
AC_PosControl: use AttControl's sqrt_controller
2014-10-27 15:20:48 +09:00
Jonathan Challinger
7224669399
AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth
2014-10-27 15:20:46 +09:00
Jonathan Challinger
779baa006d
AC_PosControl: Use sqrt_controller function
2014-10-27 15:20:44 +09:00
Jonathan Challinger
0c4a489491
AC_AttitudeControl: use sqrt_controller function
2014-10-27 15:20:43 +09:00
Randy Mackay
fc898a00a3
AC_AttControl: add sqrt_controller
...
Original code by Jonathan Challinger
2014-10-27 15:20:40 +09:00
Andrew Tridgell
9a98e63702
AC_AttitudeControl: fixed example build
2014-10-24 12:10:39 +11:00
Randy Mackay
a1cfd03c9b
AC_PosControl: bug fix dt calculation
...
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
2014-10-21 11:40:47 +09:00
Jonathan Challinger
4a397a8d67
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy
2014-10-10 21:17:12 +09:00
Randy Mackay
1754cacf3c
AC_PosControl: remove completed to-do comments
2014-10-04 23:49:24 +09:00
Randy Mackay
f65e81cb07
AC_AttControl: remove some old comments
2014-10-04 23:49:21 +09:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
...
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
3e1bd04c94
TradHeli: update AttControl params to match multicopters
2014-09-09 14:41:57 +09:00
Randy Mackay
5a66ff1ef9
AC_AttControl: bug fix for ef target during acro
2014-08-23 22:17:54 +09:00
Randy Mackay
3e0b573dfe
AC_AttControl: remove debug message
2014-08-22 22:58:48 +09:00
Randy Mackay
f6e12bda06
AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion
2014-08-22 22:56:18 +09:00
Randy Mackay
c45338f080
AC_AttControl: div-by-zero check for bf-to-ef conversion
2014-08-22 22:56:15 +09:00
Randy Mackay
691a3d8126
AC_AttControlHeli: add passthrough_bf_roll_pitch_rate_yaw
2014-08-22 16:28:57 +09:00
Robert Lefebvre
7d3e22af59
AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor function.
2014-08-22 16:28:45 +09:00
Robert Lefebvre
9b1d9e3cf0
AC_AttitudeControl_Heli: Add passthrough_to_motor_roll_pitch function.
2014-08-22 16:28:42 +09:00
Robert Lefebvre
5c04af6d20
AC_AttitudeControl_Heli: Create Flybar Passthrough flag which will be used for control pass-through.
2014-08-22 16:28:38 +09:00
Randy Mackay
58257e3858
AC_AttControl: set rate D term filter from ins filter
2014-08-14 11:47:35 +09:00
lthall
329118b7c9
Copter: AC_ATT correct yaw error calculation
2014-08-14 11:47:13 +09:00
lthall
90dc9411a5
Copter: ACRO Error calculation fix
2014-08-14 11:47:08 +09:00
Andrew Tridgell
a9153519dc
AC_AttitudeControl: fixed example build
2014-08-13 21:45:38 +10:00
Randy Mackay
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
2014-08-05 09:11:57 +09:00
Randy Mackay
1362bdc338
AC_PosControl: smooth take-off with accel PID's I term
...
This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
2014-08-04 21:04:09 +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
424cb1aeca
AC_AttControl: fix example sketch
2014-07-29 12:00:33 +09:00
Andrew Tridgell
6df2890fd8
AC_AttitudeControl: fixed example build
2014-07-25 17:52:53 +10:00
Randy Mackay
c2f8571f37
AC_AttControl: FF and accel limiting off by default
...
Also adjust parameter ranges used by GCSs
2014-07-17 16:22:32 +09:00
Randy Mackay
eebd32f306
AC_AttControl: remove duplicate rate_ef_desired to resolve compiler warning
2014-07-16 21:50:31 +09:00
lthall
fb55658c91
Copter: Acro use same error limit in all three axis
2014-07-16 17:46:13 +09:00
lthall
2889f5abc4
AC_AttControl: Fix feedforward behavior
2014-07-16 17:46:06 +09:00
