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48,137 Commits 71 Branches 510 Tags 754 MiB
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Commit Graph

150 Commits

Author SHA1 Message Date
Leonard Hall
68b882d404 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00
Andrew Tridgell
6bde607aaa AC_AttitudeControl: fixed comment 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a4220b1584 AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-07-04 08:19:11 +10:00
Leonard Hall
b73182db3c AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-07-04 08:19:10 +10:00
Leonard Hall
20158ddf5f AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-07-04 08:19:10 +10:00
Leonard Hall
ab8f3c21ec AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-07-04 08:19:10 +10:00
Randy Mackay
d9c68031fa AC_PosControl: write_log checks xy and z controllers are active 
This allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages
 2021-05-26 18:58:31 +10:00
Leonard Hall
491350c1d6 AC_AttitudeControl: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell
8213fc5277 AC_AttitudeControl: prevent panic on SITL when no lock-step scheduling 
this disables the internal error for bad timing on SITL types without
lock-step scheduling, such as RealFlight
 2021-05-24 20:13:37 +10:00
Leonard Hall
92e05e8c4f AC_AttitudeControl: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
7f1f29c1ae AC_PosControl: rename get_roll_cd get_pitch_cd 2021-05-12 17:16:00 +10:00
Leonard Hall
f24a0988f4 AC_PosControl: minor formatting fixes 2021-05-12 17:16:00 +10:00
Leonard Hall
4158c37cfa AC_PosControl: Calculate heading 2021-04-27 17:13:55 +09:00
Leonard Hall
bb46f7a947 AC_PosControl: Thrust Vector output 2021-04-27 17:13:55 +09:00
Randy Mackay
cb0d37586e AC_PosControl: use Vector limit_length and formatting fixes 2021-04-03 12:07:59 +09:00
Leonard Hall
ba00c2edd6 AC_PosControl: alt hold controller update 
pass accel limit top_pos_xy
prearm check updated
fix PSC_VELZ_FLTE/D param descriptions
fix VelZ FF param desc
limit maximum desired z component
integrate AC_PID_Basic
 2021-04-03 12:07:59 +09:00
Leonard Hall
b73ad1a1bc AC_PosControl: remove unused sqrt_controller_3D 2021-04-03 12:07:59 +09:00
Leonard Hall
49da872218 AC PosControl: fix position error get functions 2021-04-03 12:07:59 +09:00
Randy Mackay
9f914d9e7d AC_PosControl: add get_z_accel_cmss helper function 2021-02-09 19:33:52 +09:00
Randy Mackay
6320338771 AC_PosControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
murata
d7533843d5 AC_AttitudeControl: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
Randy Mackay
4ed486bb92 AC_AttitudeControl: revert Add PosControl PID logging 2020-09-12 08:10:33 +09:00
Iampete1
c109df3dd5 AC_AttitudeControl: Add PosControl PID logging 2020-09-11 10:12:08 +10:00
Rishabh
6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Randy Mackay
06b62107c7 AC_PosControl: move freeze_ff_z to be with other z-axis methods 
Also minor comment fix to get_stopping_point_xy
 2020-03-11 10:39:18 +09:00
Leonard Hall
29332ac112 AC_PosControl: add relax_velocity_controller_xy 2020-03-11 10:39:18 +09:00
Peter Barker
d6dbdd58d3 AC_AttitudeControl: adjust for some methods on AP_AHRS become non-const 2020-01-21 11:53:18 +11:00
Leonard Hall
3ca713fdcb AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Leonard Hall
e5f724bc3a AC_PosControl: add high vibration compensation 2019-10-18 11:15:25 +09:00
Leonard Hall
5acfc77a3c AC_AttitudeControl: Support for Standby functions 2019-10-17 14:57:18 +09:00
Leonard Hall
78be1067a8 AC_AttitudeControl: Alt Hold init bug 2019-07-17 09:09:25 +09:00
Leonard Hall
32cc642b2e AC_AttitudeControl: Formatting Changes 2019-04-20 09:31:56 +09:00
Tom Pittenger
ce872d83a4 AC_AttitudeControl: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
50d95943e3 AC_AttitudeControl: add pre-arm checks 2019-03-06 10:36:32 +09:00
Randy Mackay
b14be4e8ae AC_PosControl: increase accuracy of dt calcs 2019-01-30 15:58:34 +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
Peter Barker
04e4484d96 AC_AttitudeControl: correct old and misleading comments 2018-10-23 09:40:21 +11:00
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
5863b84c35 AC_PosControl: reduce glitch on init 2018-09-04 13:37:28 +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
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
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
c70d3e0ab8 AC_PosControl: move pids to be local 2018-01-23 12:00:43 +09:00