Jonathan Challinger
7224669399
AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth
2014-10-27 15:20:46 +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
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Original code by Jonathan Challinger
2014-10-27 15:20:40 +09:00
Randy Mackay
f65e81cb07
AC_AttControl: remove some old comments
2014-10-04 23:49:21 +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
c45338f080
AC_AttControl: div-by-zero check for bf-to-ef conversion
2014-08-22 22:56:15 +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
Randy Mackay
c2f8571f37
AC_AttControl: FF and accel limiting off by default
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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
Jonathan Challinger
6e66cf43cb
AC_AttitudeControl: Use bias-corrected angular rates instead of raw gyro measurements
2014-07-16 14:40:56 +09:00
Randy Mackay
0f7178e447
AC_AttControl: cast fabs to float to resolve compiler warning
2014-07-16 14:38:20 +09:00
Randy Mackay
971411e0db
AC_AttControl: fixed typo in parameter description
2014-07-13 10:31:11 +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
b57c0dabf6
AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled
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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
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
2014-06-10 20:02:48 +09:00
Randy Mackay
a662f87ffb
AC_AttControl: remove resolved To-Do
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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
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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
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Also added place holder for turning off feed forward.
2014-06-10 20:02:39 +09:00
lthall
922026c15c
AC_AttControl: rate compensation for yaw
2014-06-10 20:02:34 +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
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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
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
2014-05-29 17:40:17 +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
7bff8e9312
AC_AttControl: constrain earth frame yaw angle error
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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
Randy Mackay
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
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pair-programmed with lthall
2014-03-04 22:23:14 +09:00
lthall
15f88c2a2b
AC_AttControl: Stabilize input shaping
2014-03-04 21:52:18 +09:00
Randy Mackay
d277b6cabd
AC_AttControl: fix @Units parameter descriptions
2014-02-16 22:36:59 +09:00
lthall
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
2014-02-16 13:35:23 +11:00
Randy Mackay
ff9f4fe6e7
AC_AttControl: replace APM_PI with AC_P
2014-02-15 06:09:08 +11:00
Randy Mackay
a6ad51b38f
AC_AttControl: rename most methods
2014-02-15 06:09:08 +11:00
lthall
65c2fc0cc6
AC_AttControl: ACRO fixes
2014-02-15 06:09:08 +11:00
Randy Mackay
f216cffb77
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
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Saves 8bytes of RAM
2014-02-15 05:27:49 +11:00
Randy Mackay
98224db1e4
AC_AttControl: Leaonard's rate feedforward
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Also saves 24bytes of RAM
2014-02-15 05:27:49 +11:00
Randy Mackay
5f89e9e746
AC_AttControl: bug fix to yaw rate limit
2014-02-15 05:27:48 +11:00
Randy Mackay
d76180d605
AC_AttControl: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
eda376c7f6
AC_AttControl: init_targets() clears body frame angle errors
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This should ensure that we don't get sudden jerks when entering acro
mode
2014-02-15 05:27:43 +11:00
Randy Mackay
2db24659d0
AC_AttControl: add slew_yaw
2014-02-15 05:27:42 +11:00
Randy Mackay
2dae0d68c5
AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params
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These replace the ANGLE_RATE_MAX parameter from the main code
2014-02-15 05:27:42 +11:00
Randy Mackay
a2b017abd2
AC_AttControl: add rateef_rpy
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rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
2014-02-15 05:27:40 +11:00
Randy Mackay
468be05867
AC_AttControl: make ahrs, ins objects const
2014-02-15 05:27:40 +11:00
Randy Mackay
4003b4da9b
AC_AttControl: leonard's body frame rate controller
2014-02-15 05:27:38 +11:00
Randy Mackay
ba3ba9e157
AC_AttControl: bug fix for yaw target handling
2014-02-15 05:27:37 +11:00