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310 Commits

Author SHA1 Message Date
Randy Mackay 86bb03aa79 AC_AttControl: use ahrs get_rotation_body_to_ned 
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
 2015-12-23 11:38:21 +09:00
Jonathan Challinger 46e6ff3ca9 AC_AttitudeControl: modify comment on kinematic correction feedforward 2015-12-23 11:38:19 +09:00
Jonathan Challinger 829d6037fc AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude 2015-12-23 11:38:16 +09:00
Jonathan Challinger ae3357baee AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame 2015-12-23 11:38:14 +09:00
Jonathan Challinger 3d4bd92b48 AC_AttitudeControl: add helper functions to retrieve rotation matrices 2015-12-23 11:38:12 +09:00
Andrew Tridgell fbacb4c01f AC_AttitudeControl: fixed M_PI -> M_PI_F 2015-12-20 17:55:39 +11:00
Jonathan Challinger ee8090e25f AC_AttitudeControl: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Randy Mackay c8661f804f AC_AttControl: reduce compiler warnings by fixing member init order 
Also increased _dt's default to 400hz (no functional change)
 2015-12-09 20:04:42 +09:00
Randy Mackay 02eda4dcab AC_AttControl: remove comment, fix formatting 2015-12-09 20:04:32 +09:00
Jonathan Challinger e8345fbaab AC_AttitudeControl: rename getters for attitude target and attitude error 2015-12-09 19:58:48 +09:00
Jonathan Challinger 3a06edcee3 AC_AttitudeControl: rename local variable to match naming convention 2015-12-09 19:58:46 +09:00
Jonathan Challinger 846ee7d2af AC_AttitudeControl: fix regression in angular velocity controller 2015-12-09 19:58:45 +09:00
Jonathan Challinger b8223771d3 AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits 2015-12-09 19:58:44 +09:00
Jonathan Challinger 162d2a9112 AC_AttitudeControl: naming changes in response to Leonard's review 2015-12-09 19:58:42 +09:00
Jonathan Challinger a48f201a04 AC_AttitudeControl: comment changes in response to Paul's review 2015-12-09 19:58:41 +09:00
Jonathan Challinger 0baf86c485 AC_AttitudeControl: fixup more names 2015-12-09 19:58:39 +09:00
Jonathan Challinger 41e580e53a AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO 2015-12-09 19:58:38 +09:00
Jonathan Challinger 5919e95635 AC_AttitudeControl: add input_ prefix to input shaper functions 2015-12-09 19:58:36 +09:00
Jonathan Challinger bba360ea2b AC_AttitudeControl: correct bugs found in review 2015-12-09 19:58:35 +09:00
Jonathan Challinger 9208003aab AC_AttitudeControl: remove unused variable 2015-12-09 19:58:34 +09:00
Jonathan Challinger f8c709478a AC_AttitudeControl: quaternion acro controller 2015-12-09 19:58:33 +09:00
Jonathan Challinger 8b886bc479 AC_AttitudeControl: minor comment changes and reorganization 2015-12-09 19:58:32 +09:00
Jonathan Challinger edda7e4e1e AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw 2015-12-09 19:58:31 +09:00
Jonathan Challinger 1afab89991 AC_AttitudeControl: extensive renaming and recommenting 2015-12-09 19:58:29 +09:00
Jonathan Challinger 06c8457efd AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions 2015-12-09 19:58:27 +09:00
Jonathan Challinger 7330de86e5 AC_AttitudeControl: change internals to use radians instead of centidegrees 2015-12-09 19:58:26 +09:00
Andrew Tridgell 58f0abaf4c AC_AttitudeControl: fixed one usage of zero accel limits 
in other places zero accel limit means no limit
 2015-12-07 13:43:14 +09:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Andrew Tridgell d8ee9feaac AC_AttitudeControl: fixed external tail gyro with no flybar 
this sets up the tail pass-through for acro mode
 2015-11-27 15:24:41 +09:00
Caio Marcelo de Oliveira Filho ea08b6115d AC_AttControl: use millis/micros/panic functions 2015-11-20 12:27:03 +09:00
Randy Mackay c9340dbeb6 AC_PosControl: run velocity controller z-axis at 400hz 2015-11-18 13:31:21 +09:00
Randy Mackay dbc8ce1d69 AC_PosControl: default z-axis controller to 400hz 
No functional change as vehicle code always sets it explicitely
 2015-11-18 13:31:20 +09:00
Randy Mackay 323a527734 AC_PosControl: velocity controller uses feed-forward althold 2015-11-18 13:31:19 +09:00
Randy Mackay 4b41710261 AC_AttControl: minor comment fix 2015-11-18 13:31:18 +09:00
Robert Lefebvre 1bc13fb9c0 AC_AttitudeControl_Heli: Add Hover Roll Trim Scalar 2015-11-12 19:37:35 +09:00
Robert Lefebvre 0b33ef3862 AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters. 2015-11-12 19:37:26 +09:00
Robert Lefebvre 62864c9e2b AC_AttitudeControl_Heli: Remove commented out Cyclic Cross-Coupling code. Will resurrect in future. 2015-11-12 19:37:19 +09:00
Robert Lefebvre b8ce23970d AC_AttitudeControl_Heli: Implement Pirouette Compensation 2015-11-12 19:37:18 +09:00
Robert Lefebvre f39ac7c900 AC_AttitudeControl_Heli: Add initialization of _flags_heli members 2015-11-12 19:37:17 +09:00
Jonathan Challinger 6784fd8625 AC_AttitudeControl: reserve parameter IDs 2015-11-10 12:56:52 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Randy Mackay 550ba478c9 AC_PosControl: add shift_pos_xy_target 2015-10-30 12:24:08 +09:00
Randy Mackay 16a0281c92 AC_PosControl: remove unused set_vel_target 2015-10-30 12:24:07 +09:00
Randy Mackay ee0abb1750 AC_PosControl: add set_jerk_xy 2015-10-29 12:10:44 +09:00
Randy Mackay 73f4533995 AC_PosControl: minor comment update 2015-10-28 20:21:53 +09:00
Randy Mackay 895a40893d AC_PosControl: use_desvel_ff flag added 
This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero.  Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
 2015-10-28 20:21:52 +09:00
Leonard Hall aec66c5db6 AC_PosControl: faster z-axis slowdown when over speed 2015-10-28 20:21:38 +09:00
Leonard Hall 245f7ce268 AC_PosControl: allow desired vel z to be above speed limit 2015-10-28 17:59:36 +09:00
Leonard Hall f55c31a157 AC_PosControl: add alt hold without feed forward 2015-10-28 17:57:20 +09:00
Andrew Tridgell e3f7b002c2 AC_AttitudeControl: use non-flybar leaky I handling 
The standard leaky-I handling works fine on a flybar, so better not to
have a special case that isn't needed
 2015-09-25 12:05:43 +10:00