Leonard Hall
fdcdcb0033
AC_PosControl: check Z-axis accel imax can always overpower hover throttle
...
This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
2016-09-05 14:19:43 +09:00
Randy Mackay
44830be172
AC_AttControl: add parameter check of throttle mix
2016-09-02 09:27:15 +09:00
Randy Mackay
535158e0d8
AC_AttControl: move var_info declaration
...
No functional change
2016-09-02 09:27:12 +09:00
Leonard Hall
29d4790fc7
AC_AttControl: reduce max_rate_step based on hover throttle
...
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
2016-08-12 22:29:53 +09:00
Leonard Hall
50b694444b
AC_AttControl: correct method comments
...
No functional change
2016-08-08 11:24:42 +09:00
Leonard Hall
34055944cd
AC_PosControl: fix relax_alt_hold_controllers
2016-08-05 12:40:37 +09:00
Randy Mackay
24044e5611
AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range
...
throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control. This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
2016-08-05 12:40:37 +09:00
Leonard Hall
ac04fcd836
AC_AttControl: fix set_yaw_target_to_current_heading
2016-08-05 12:40:37 +09:00
Leonard Hall
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
2016-08-05 12:40:37 +09:00
Randy Mackay
d5c18dc987
AC_AttControl: remove unused 100hz definition
2016-08-01 17:21:04 +09:00
Jonathan Challinger
630e5378da
AC_PosControl: add get_horizontal_error
2016-07-12 18:40:25 +09:00
Leonard Hall
80bda572ba
AC_AttutudeControl: Yaw shift fix
2016-06-24 18:15:48 +09:00
Leonard Hall
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
2016-06-24 17:17:11 +09:00
Leonard Hall
117ae89505
AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec
2016-06-24 16:24:17 +09:00
Randy Mackay
a1548405c1
AC_AttitudeControlHeli: fix althold lean angle max
2016-06-24 15:03:59 +09:00
Andrew Tridgell
d1b28aaed9
AC_AttitudeControl: fixed factor of 1000 error in init_takeoff
2016-06-22 11:48:43 +10:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Randy Mackay
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
...
Also fixed up method's description
2016-06-18 11:55:49 +09:00
Randy Mackay
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
2016-06-18 11:55:49 +09:00
Leonard Hall
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
2016-06-18 11:55:49 +09:00
Randy Mackay
558f29b95c
AC_AttitudeControl: control mixing made protected
2016-06-18 11:55:49 +09:00
Leonard Hall
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
This allow adjusting the reponse to limit lean angles to reduce altitude loss
2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
2016-06-18 11:55:49 +09:00
Randy Mackay
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
2016-06-18 11:55:49 +09:00
Leonard Hall
ca2977decf
AC_AttitudeControl: set throttle vs attitude priority for flipped state
...
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
...
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
...
This is only called from multicopters
2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
2016-06-18 11:55:49 +09:00
Andrew Tridgell
e070aeebe3
AC_AttitudeControl: added accessors for P and D RMS controller values
2016-06-10 17:48:31 +10:00
Andrew Tridgell
1c463e3f3b
AC_AttitudeControl: log rms P and D separately
...
as discussed with Leonard
2016-06-10 17:48:31 +10:00
Tom Pittenger
64c2510be9
AC_AttitudeControl: fix compile warning float to double promotion in string conversion
2016-06-01 17:38:47 -07:00
Andrew Tridgell
b4bdfa2451
AC_AttitudeControl: return roll, pitch and yaw controller error separately
...
as discussed with Leonard
2016-06-01 17:18:58 +10:00
Andrew Tridgell
6330060e49
AC_AttitudeControl: added monitoring of controller error
...
use RMS P+I+FF output. Thanks to Leonard for the suggestion
2016-05-28 17:33:30 +10:00
Andrew Tridgell
9bf0ada875
AC_AttitudeControl: removed use of AFF for tail control in heli
2016-05-12 17:37:22 +10:00
dgrat
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Randy Mackay
4a06ca4be2
AC_AttControl: remove unused call to motors.set_stabilizing
...
Also minor change to order of a call to motors library to make stabilizing
and non-stabilizing calls consistent.
Non functional change
2016-05-07 10:08:38 +09:00
Andrew Tridgell
c7664291f9
AC_AttitudeControl: fixed comment on function
2016-04-28 17:46:58 +10:00
Andrew Tridgell
23a64e1227
AC_AttitudeControl: fixed accel limit trigonometry
...
Leonard had mentioned the limit should be tan(angle) not sin(angle). I
noticed this one was wrong.
2016-04-28 16:15:15 +10:00
Francisco Ferreira
b7135175c9
AC_AttitudeControl: fix heli documentation
2016-04-18 07:40:34 +09:00
Andrew Tridgell
d03a232659
AC_AttitudeControl: added set_limit_accel_xy() API
...
for preventing integrator buildup
2016-04-10 22:01:18 +10:00
Randy Mackay
87399776a3
AC_PosControl: hover throttle default to 0.5
2016-04-01 11:59:30 +09:00
Randy Mackay
165d739b45
AC_AttControl_Heli: roll, pitch, yaw passthrough to motors in -1 to +1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
344d86a095
AC_AttControl_Heli: fix parameter description
2016-04-01 11:59:30 +09:00
Randy Mackay
685be4083c
AC_AttControl_Heli: remove unnecessary cast to AC_HELI_PID
2016-04-01 11:59:30 +09:00