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270 Commits

Author SHA1 Message Date
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
Leonard Hall
c8872e082d AC_AttControl: rename set_throttle_out parameter 
No functional change
 2015-09-07 15:10:15 +09:00
Leonard Hall
cf5db31053 AC_PosControl: allow limiting lean angle to avoid alt loss 2015-09-07 15:10:10 +09:00
Leonard Hall
29ff5035b4 AC_AttControl: limit lean angle from throttle 2015-09-07 15:10:09 +09:00
Leonard Hall
b58cc7ea8d AC_PosControl: move accel constraint to accel_to_lean_angles 2015-09-07 14:51:43 +09:00
Gustavo Jose de Sousa
d49f10d2e5 AC_AttitudeControl: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:41 +10:00
Randy Mackay
0bf1d04172 AC_AttControl: relax earth frame rate targets along with bf 2015-07-28 15:16:22 +09:00
Randy Mackay
157c97447d AC_AttControlHeli: init passthrough_yaw 2015-07-21 16:26:27 +09:00
Randy Mackay
8b4805bfcb AC_AttControl_heli: add MotorsHeli include 2015-07-21 16:25:56 +09:00
Randy Mackay
bf2bf2e3fa AC_AttControl_Multi: new multirotor specific attitude control class 2015-07-21 16:25:53 +09:00
Randy Mackay
93dd7dd970 AC_AttControl: get_boosted_throttle purely virtual 2015-07-21 16:25:50 +09:00
Robert Lefebvre
14882bc6a8 AC_AttitudeControl: Remove unused takeoff jump #define 2015-07-14 20:16:58 +09:00
Andrew Tridgell
eeb97800ae AC_AttitudeControl: allow for tail pass-thru in ACRO mode 
this allows for all channels to be passed through
 2015-06-26 12:45:38 +09:00
Randy Mackay
1e3e65e443 AC_AttControl: add shift_ef_yaw_target 
This allows shifting the target heading in case the EKF shifts it's
heading estimate
 2015-06-24 11:49:32 +09:00
Leonard Hall
cfc388934b AC_AttControl: add set_accel_roll_max 
Also equivalents for pitch and yaw
 2015-06-18 23:06:33 +09:00
Randy Mackay
d2f93dd379 AC_PosControl: init flags 
Resolves warning from Coverity
 2015-06-08 14:46:32 +09:00
Randy Mackay
382f5d087f AC_PosControl: explicitly set set_alt_target_from_climb_rate params 2015-06-05 15:51:02 +09:00
Randy Mackay
6ea60aa662 AC_PosControl: remove default from set_alt_target_from_climb_rate 2015-06-05 15:15:03 +09:00
Randy Mackay
11fee21f06 AC_PosControl: init accel_last_z_cms 2015-06-05 15:06:34 +09:00
Robert Lefebvre
4da54783fd AC_AttitudeControl_Heli: Semantic Change. Motor Runup to Rotor Runup. 2015-05-29 17:46:23 +09:00
Robert Lefebvre
18bac524a3 Copter: TradHeli, change Rate FF LPF to 10Hz 2015-05-29 17:46:05 +09:00
Andrew Tridgell
521dae1c65 AC_AttitudeControl: use set_desired_rate() on PID controllers 
this sets them up for logging of PIDs
 2015-05-27 14:28:49 +10:00
Robert Lefebvre
353879cd2b AC_AttitudeControl_Heli: Add Rate Accel FF to Yaw control 2015-05-27 14:28:47 +10:00
Robert Lefebvre
810b12a1ac AC_AttitudeControlHeli: Change Rate Yaw FF LPF from 5Hz to 10Hz. 2015-05-27 14:28:46 +10:00
Robert Lefebvre
23adf2773c AC_AttitudeControl: Remove To-Do comments for Attitude Rate logging. 2015-05-27 14:28:44 +10:00
Robert Lefebvre
915236f1f5 AC_AttitudeControl: Non-functional comment change 
Don't encourage future misuse of g.rc3
 2015-05-25 22:13:37 +09:00
Robert Lefebvre
e87ca6de6f AC_PosControl: Change motors.get_throttle_out 
to get_throttle to follow function renaming in AP_Motors
 2015-05-25 22:13:34 +09:00
Randy Mackay
d1808c645d AC_PosControl: recalc leash length on speed or accel change 
This resolves an issue in which do-set-speed would not take effect until
one waypoint too late in a mission.
 2015-05-19 18:16:39 +09:00
Tom Pittenger
4f1dd2c8a4 AC_AttitudeControl: compiler warning stuff 
float to double promotion via cos & sin instead of cosf & sinf
(this code is commented out but in case it ever gets included it would be nice to be correct
 2015-05-16 08:21:36 +10:00
Tom Pittenger
70bef20a29 AC_AttitudeControl: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Randy Mackay
3781f133d7 AC_AttControlHeli: remove unused definitions 2015-05-08 14:50:38 +09:00
Randy Mackay
bef5633ed5 AC_AttControlHeli: use params from parent class 2015-05-08 14:50:36 +09:00
Randy Mackay
7951346d72 AC_AttControl: bf_feedfoward_save made more concise 2015-05-08 14:29:49 +09:00
Leonard Hall
cf45a1cf3a AC_AttitudeControl: add get accel and save ff 2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582 AC_AttitudeControl: Enable FF by default 2015-05-08 14:14:21 +09:00
Andrew Tridgell
872583f441 AC_AttitudeControl: removed fast_atan 2015-05-05 13:57:16 +10:00
Andrew Tridgell
84ac721340 AC_AttitudeControl: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:19 +10:00
Andrew Tridgell
326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger
1bca81eaed AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Randy Mackay
31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger
ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00