Mark Whitehorn
ce1a082956
Plane: limit yaw error in bodyframe roll control
2019-04-30 08:51:24 +10:00
Mark Whitehorn
732ed17f2f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-04-23 09:15:55 +10:00
Mark Whitehorn
d72f2feeb5
AC_AttitudeControl: constrain input euler roll and pitch in bodyframe roll controls
...
and limit integrated error in bf_roll_pitch_yaw_3
2019-04-23 09:15:55 +10:00
Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Randy Mackay
4e494d5a63
AC_PosControl: minor comment fix to pre-arm checks
2019-04-16 11:23:46 +09:00
Randy Mackay
0624f6b8c3
AC_PosControl: minor comment fix
2019-04-16 11:23:46 +09:00
Leonard Hall
c00ee6aac5
AC_AttitudeControl: increase rate I gain to match P gain
2019-04-12 09:28:24 +09:00
Leonard Hall
e170beaf8c
AC_AttitudeControl: reduce throttle mix for manual modes
2019-04-12 09:28:22 +09:00
Peter Barker
9c9ebb908c
AC_AttitudeControl: store integrators temps in correct type
2019-04-10 09:37:19 +09:00
Peter Barker
70aed0f29c
AC_AttitudeControl: store acro passthrough values as float
...
The function which sets these has floats, and the function we send them
to uses floats... so store them as floats...
2019-04-10 09:37:19 +09:00
Leonard Hall
6e76dff930
AC_AttitudeControl: remove unused set_throttle_out_unstabilized
2019-04-08 09:42:21 +09:00
Mark Whitehorn
b7957e820f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-03-30 10:32:24 +11:00
Tom Pittenger
ce872d83a4
AC_AttitudeControl: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Patrick José Pereira
6152f31c1e
AC_PosControl_Sub: Add new relax_alt_hold_controllers
...
When changing from manual to alt hold controller it's necessary to hold the I term
since this will help to fix the altitude with vehicles that are not neutral buoyancy
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2019-03-26 13:37:18 -04:00
Mark Whitehorn
55047324ac
AC_AttitudeControl: add new tailsitter bodyframe roll option
2019-03-26 14:50:37 +11:00
Mark Whitehorn
4e9b6d1919
AC_AttitudeControl: improve tailsitter bodyframe roll control
2019-03-26 14:50:37 +11:00
Peter Barker
eb1fc3107c
AC_PosControl: log PSC data in metres in place of centimetres
2019-03-26 10:18:05 +11:00
Mark Whitehorn
1c52458d72
AC_AttitudeControl: use new method get_quat_body_to_ned()
2019-03-19 10:46:25 +11:00
Mark Whitehorn
20bbf99b28
AC_AttitudeControl: add body-frame yaw mode for tailsitters
2019-03-06 15:48:51 +11:00
Peter Barker
50d95943e3
AC_AttitudeControl: add pre-arm checks
2019-03-06 10:36:32 +09:00
Randy Mackay
8710526894
AC_PosControl: constify dt calcs
2019-01-30 15:58:34 +09:00
Randy Mackay
b14be4e8ae
AC_PosControl: increase accuracy of dt calcs
2019-01-30 15:58:34 +09:00
Peter Barker
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Pierre Kancir
96e629d83e
AC_AttitudeControl: pass vector by const reference
2018-12-22 08:31:32 +09:00
Leonard Hall
8d572e8565
AC_AttitudeControl: Fix Autotune high hover throttle based limits
2018-12-21 22:17:52 +11:00
Randy Mackay
ba3303dc61
AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target
...
This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
2018-11-26 09:30:32 +09:00
Peter Barker
7e3ca19308
AC_AttitudeControl: add override keyword in many places
2018-11-08 11:30:12 +11:00
murata
6db54bd65e
AC_AttitudeControl: Change from sqrt to safe_sqrt
2018-11-03 15:23:15 +09:00
Peter Barker
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
...
The result of this won't be used as often as this loop is called
2018-10-30 09:00:23 +09:00
Michael du Breuil
5846a54c17
AC_AttitudeControl: Fix copy paste param doc error
2018-10-25 09:50:00 +11:00
Peter Barker
04e4484d96
AC_AttitudeControl: correct old and misleading comments
2018-10-23 09:40:21 +11:00
Leonard Hall
96a8bcf641
AC_AttitudeControl: limit gyro correction to 45 degrees error
2018-10-16 00:44:50 +09:00
Leonard Hall
acaefe9316
AC_AttitudeControl: remove output limits
2018-10-16 00:44:50 +09:00
Peter Barker
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
2018-10-09 10:47:38 +11:00
Michael du Breuil
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
2018-09-20 15:15:45 -07:00
Leonard Hall
34c0656675
AC_AttitudeControl: Add missing variable initalisations
2018-09-15 11:00:29 +10:00
Michael du Breuil
eb1f3b205f
AC_AttitudeControl: Use reset_rate_controller_I_terms() helper
2018-09-14 12:16:58 +09:00
Leonard Hall
b15b5516cb
AC_PosControl: Fix divide by zero check in limit_vector_length
2018-09-12 15:51:30 +09:00
Leonard Hall
706ff85be7
AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max
2018-09-12 15:51:30 +09:00
Leonard Hall
5863b84c35
AC_PosControl: reduce glitch on init
2018-09-04 13:37:28 +09:00
Andrew Tridgell
9766c4ed26
AC_AttitudeControl: fixed use of double precision maths
2018-05-07 11:43:23 +10:00
Jacob Walser
6ae1bf4cf4
AC_AttitudeControl: Allow zero gains for Sub
...
Close bluerobotics/ardusub#70
2018-04-25 17:18:26 +09:00
Michael du Breuil
334ff0fb66
AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway
2018-03-31 13:40:52 +09:00
Randy Mackay
33f437a72c
AC_AttitudeControl: use multiply instead of divide
2018-03-16 13:50:57 +09:00
Leonard Hall
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
2018-03-16 13:50:57 +09:00
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
13007e2a07
AC_PosControl: dataflash logging of PSC message
2018-03-16 13:50:57 +09:00
Randy Mackay
69cfea4057
AC_PosControl: use float for local consts
2018-03-16 13:50:57 +09:00
Randy Mackay
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
2018-03-16 13:50:57 +09:00
Leonard Hall
dadc6a63c4
AC_PosControl: add set_leash_length_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
e5bc2b26fe
AC_PosControl: add lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
0f3645b061
AC_PosControl: increase velocity gains
2018-03-16 13:50:57 +09:00
Leonard Hall
7ec043502f
AC_PosControl: add accel limit to xy controller
2018-03-16 13:50:57 +09:00
Leonard Hall
bd13704f6f
AC_PosControl: update init for guided
2018-03-16 13:50:57 +09:00
Leonard Hall
85b7f06554
AC_PosControl: combine z position control into single method
2018-03-16 13:50:57 +09:00
Leonard Hall
993e638752
AC_PosControl: combine xy position control into single method
...
Also always limit lean angle to maintain altitude
2018-03-16 13:50:57 +09:00
Leonard Hall
74bb7616a7
AC_PosControl: add accel feedforward
...
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
2018-03-16 13:50:57 +09:00
Randy Mackay
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
2018-03-16 13:50:57 +09:00
Randy Mackay
b3de52dc59
AC_AttitudeControl: minor comment fix
2018-03-16 13:50:57 +09:00
Leonard Hall
05418d3d29
AC_AttitudeControl: add EKF reset handling
2018-03-16 13:50:57 +09:00
Leonard Hall
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
...
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
2018-03-16 13:50:57 +09:00
Leonard Hall
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
...
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
59a2445ad3
AC_AttitudeControl: replace smoothing gain with INPUT_TC
2018-03-16 13:50:57 +09:00
Leonard Hall
e1e224b68b
AC_AttitudeControl: add angular velocity limit
2018-03-16 13:50:57 +09:00
Leonard Hall
ee82943f85
AC_AttitudeControl: add input_shaping_rate_predictor
2018-03-16 13:50:57 +09:00
Leonard Hall
6175a896ee
AC_AttitudeControl: add set smoothing gain
...
Smoothing gain value should be set once when entering a mode
2018-03-16 13:50:57 +09:00
Leonard Hall
213f7a4061
AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods
...
Also constify existing get_accel_roll/pitch/yaw_max methods
2018-03-16 13:50:57 +09:00
Randy Mackay
3badcdcfba
AC_PosControl: default gains for sub
2018-01-31 08:48:21 +09:00
Randy Mackay
61933c6f1c
AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ
2018-01-31 08:48:21 +09:00
Leonard Hall
692e6518cc
AC_AttitudeControl: update param desc values for large copters
2018-01-27 11:54:04 +09:00
Leonard Hall
691abab95e
AC_AttitudeControl: Update parameter ranges
2018-01-27 11:38:09 +09:00
Randy Mackay
9c00eb3d5f
AC_PosControl_Sub: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
c70d3e0ab8
AC_PosControl: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
00037fd50e
AC_PosControl_Sub: replace velocity pi with local pid
2018-01-23 12:00:43 +09:00
Randy Mackay
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
2018-01-23 12:00:43 +09:00
Leonard Hall
e249e06714
AC_PosControl: minor enhancement to lean_angles_to_accel
2018-01-20 09:49:58 +09:00
Leonard Hall
d5976442f8
AC_PosControl: minor comment change
...
non-functional change
2018-01-19 15:40:32 +09:00
Leonard Hall
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
2018-01-19 15:40:24 +09:00
Leonard Hall
b9ed8b292a
AC_PosControl: pass dt to att control sqrt_controller
2018-01-16 12:13:48 +09:00
Leonard Hall
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
2018-01-16 12:13:48 +09:00
Leonard Hall
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
2018-01-16 12:13:48 +09:00
Leonard Hall
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
2018-01-12 15:20:47 +09:00
Leonard Hall
3e0c24adf9
AC_PosControl: remove out-of-date comments
2018-01-11 21:18:34 +09:00
ChristopherOlson
569f55f5c6
AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters
...
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
2017-12-14 20:46:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
2017-12-05 09:17:15 +09:00
Leonard Hall
bd284d9fd7
AC_PosControl: correct lean-angle-to-accel formula
...
Thanks to @luweikxy for finding this issue!
2017-11-24 09:12:00 +09:00
Leonard Hall
ebd864d2d2
AC_PosControl: minor update to comments
2017-11-16 09:46:28 +09:00
Randy Mackay
6315e6eb45
AC_AttitudeControl: remove unused get_tilt_limit_rad
2017-11-15 20:22:02 +09:00
bnsgeyer
e8173f27df
AC_AttitudeControl: reset target attitude
...
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
2017-10-28 12:31:06 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
2017-10-23 09:20:17 -07:00
Andrew Tridgell
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
2017-10-03 10:16:41 +11:00
Andrew Tridgell
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
...
this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
Andrew Tridgell
1a25087dd5
AC_AttitudeControl: fixed PIRO_COMP index
...
this is a new conflict due to stricter checking in AP_Param
2017-08-14 09:28:57 +09:00
Leonard Hall
ed0063d10d
AC_AttControl: save accel max using shorter set_and_save
...
no functional change
2017-06-22 15:20:16 +09:00
Leonard Hall
0544cf1d82
AC_AttControl: add step input for autotune
2017-06-22 15:18:04 +09:00
Peter Barker
d56eca036d
AC_AttitudeControl: correct parameter markup
2017-06-05 21:02:30 +10:00
Leonard Hall
ad74769fb7
AC_AttControl: adjust default rate IMAX and Yaw Filt
...
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
2017-06-01 10:08:41 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Randy Mackay
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
...
Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +09:00
Andrew Tridgell
fe3e7e8153
AC_AttitudeControl: added get_throttle_mix()
...
and when we use set_throttle_mix_value(), set both desired and actual
thanks to Leonard for the suggestions
2017-04-19 09:08:43 +10:00
Randy Mackay
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
2017-03-15 09:22:23 +09:00
Randy Mackay
67097c8d59
AC_AttitudeControl: use gyro_latest
...
This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
2017-03-03 13:14:28 +11:00
Randy Mackay
d79403707b
AC_AttControl: add feed forward param descriptions
...
No functional change
2017-03-01 14:59:44 +09:00
Andrew Tridgell
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
2017-02-26 09:20:51 +11:00
Jacob Walser
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
2017-02-21 11:26:14 +11:00
Jacob Walser
925fa5d214
AC_AttitudeControl: Add AC_AttitudeControl_Sub class
2017-02-21 11:26:14 +11:00
Andrew Tridgell
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
...
this allows for tailsitters with a different attitude view
2017-02-18 17:26:43 +11:00
Andrew Tridgell
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
2017-02-18 17:26:43 +11:00
Randy Mackay
ff042528fe
AC_PosControl: remove alt_max
...
AC_Avoidance enforces the altitude limit
2017-01-18 09:35:47 +09:00
Randy Mackay
127404acea
AC_PosControl: add get_pos_z_kP accessor
2017-01-18 09:35:47 +09:00
Randy Mackay
189b766f2b
AC_AttControl: remove redundant parameter set
2017-01-17 14:56:07 +09:00
Leonard Hall
c6d2fc3d5d
AC_AttitudeControl: add rpy mix manual
...
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
2017-01-17 14:19:09 +09:00
Andrew Tridgell
5cf1c0869d
AC_AttitudeControl: expose all functions via abstract class
...
this allows for a single class to be used for heli and multicopter
2017-01-12 17:39:37 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
Pierre Kancir
421524951f
AC_PosControl: remove unnecessary parentheses
2016-12-05 10:59:45 -08:00
murata
bcdd836820
AC_AttControl: remove unnecessary check of thr-mix-min
...
Checks directly above ensure this check can never be true
2016-12-01 13:52:04 +09:00
Leonard Hall
8af192ed9d
AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0
...
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
2016-11-30 17:56:34 +09:00
Randy Mackay
1012333eef
AC_PosControl: add ekf position reset handling
...
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
2016-11-24 19:57:56 +09:00
Leonard Hall
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
2016-11-23 14:43:29 +09:00
Peter Barker
2e2d39e628
AC_AttitudeControl: add missing parameter metadata
2016-10-27 09:15:03 -07:00
Leonard Hall
42672de606
AC_PosControl: set Alt_Hold filter for PID not just D
...
We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
2016-10-26 21:00:43 +09:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Jonathan Challinger
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
2016-10-14 10:46:01 +09:00
Jonathan Challinger
77dbf99cee
AC_PosControl: fix bug related to ekfNavVelGainScaler
2016-10-11 15:25:59 +09:00
Tom Pittenger
3adf8c3e51
AC_AttitudeControl: comment odd math in get_att_target_euler_cd
...
degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f) = 4 float multiplications
degree(vector3f) * 100.0f = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f) = 6 float multiplications and needs new degree(vector3f) function
These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
2016-09-27 17:04:53 -07:00
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
Randy Mackay
6c91e50f8c
AC_AttControl_Heli: remove scaling for centi-degrees and legacy motor input
2016-04-01 11:59:30 +09:00
Randy Mackay
32d238187f
AC_AttControl_Heli: get_althold_lean_angle_max in 0 to 1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
db04dddba5
AC_AttControl_Heli: adjust rate gain param descriptions
2016-04-01 11:59:30 +09:00
Randy Mackay
35c6ea994d
AC_AttControl_Multi: fix parameter descriptions
2016-04-01 11:59:30 +09:00
Randy Mackay
ace58d114f
AC_AttControl_Multi: reduce rate gain defaults
2016-04-01 11:59:30 +09:00
Leonard Hall
b30606bb22
AC_AttControl: remove scaling for centi-degrees and legacy motor input
2016-04-01 11:59:30 +09:00
Randy Mackay
7f2c1f830f
AC_AttControl_Heli: add rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
5edc16dfb4
AC_AttControl_Multi: add rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
75042e5e27
AC_AttControl: remove rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
17c9db08f3
AC_AttControl: add angle and rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
c49a914597
AC_AttControlHeli: remove unnecessary virtual declaration
2016-04-01 11:59:30 +09:00
Randy Mackay
2b123ee15d
AC_AttControlHeli: fix rate_bf_to_motor_roll_pitch and yaw output in -1 to +1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
c5e5b4f783
AC_AttControl: fix rate controller max definitions to -1 to +1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
979534279a
AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
c64a505906
AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
15be80a25d
AC_PosControl: accel_to_throttle outputs 0 to 1
2016-04-01 11:59:30 +09:00
Leonard Hall
e5d6d45851
AC_AttControl_Heli: angle_boost to float
2016-04-01 11:59:30 +09:00
Leonard Hall
2822b93cd4
AC_AttControl: add get_throttle_in accessor
...
Used for logging only
2016-04-01 11:59:30 +09:00
Leonard Hall
c0f209fa42
AC_AttControl: angle_boost to float
2016-04-01 11:59:30 +09:00
Leonard Hall
6f29bbafb4
AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
24f975c16a
AC_AttControl_Multi: fix throttle boost for 0 to 1
2016-04-01 11:59:30 +09:00
Leonard Hall
bab08cbcc1
AC_AttControl_Multi: add divide by zero check
2016-04-01 11:59:30 +09:00
Lucas De Marchi
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Jonathan Challinger
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
2016-03-02 20:16:18 +09:00
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
Leonard Hall
49a4bde5d9
AC_AttControl: lower minimum accelerations for large copters
2016-02-18 20:49:13 +09:00
Randy Mackay
8c7f36563c
AC_AttControl: bug fix to angle_boost reporting
...
Thanks to OXINARF for finding this
2016-01-08 10:48:59 +09:00
Randy Mackay
5ddd332277
AC_AttControl: add ANGLE_BOOST param
...
This allows disabling angle boost
2016-01-07 12:31:52 +09:00
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
