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76 Commits

Author SHA1 Message Date
Randy Mackay c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay 0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00
Randy Mackay 71fae1e6f2 AC_AttControl: lean_angle_max accessor fn const 2014-05-08 16:15:36 +09:00
lthall 21c93e48ab AC_PosControl: include vel error when get_stopping_point_z 
Pair programmed with Randy
 2014-05-08 16:15:24 +09:00
Randy Mackay a1f1dd8059 AC_PosControl: add is_active_z method 
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
 2014-05-08 16:15:22 +09:00
Randy Mackay 937e9ea687 AC_PosControl: add set_target_to_stopping_point_xy method 
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
 2014-04-30 21:46:20 +09:00
Randy Mackay 9f63de9b59 AC_PosControl: set_speed_z accepts positive descent speeds 2014-04-30 21:46:09 +09:00
Randy Mackay 098f8169b0 AC_PosControl: add keep_xy_I_terms method 
Stops horizontal PID's I terms from being reset when the controller is
next updated
 2014-04-23 15:00:12 +09:00
Ju1ien 6c71569775 AC_PosControl: update_xy_controller allows not resetting I term 2014-04-23 14:59:49 +09:00
Randy Mackay 09a35cf90f AC_PosControl: bugfix for freezing I-term build-up 2014-04-23 11:33:53 +09:00
Randy Mackay 9c6995d8bb AC_PosControl: add get_accel_z method 2014-04-22 23:05:08 +09:00
Randy Mackay e565ee6d33 AC_PosControl: stop I term build-up when motors at max 2014-04-22 23:05:06 +09:00
Randy Mackay 6f6c9e2585 AC_PosControl: bug fix to vertical speed limit 
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
 2014-04-21 21:36:02 +09:00
Randy Mackay 7e376bc517 PosControl: update_pos_controller renamed to update_xy_controller 2014-04-21 13:31:55 +09:00
Randy Mackay 02775e8dc5 AC_PosControl: get_accel_target returns const ref 2014-04-14 11:34:14 +09:00
Randy Mackay 5876a2fe47 AC_AttControl: increase default rp accel to 900deg/s/s 2014-04-07 13:37:08 +09:00
Randy Mackay b478c3a321 AC_AttControl: return angle_ef_targets as const ref 2014-04-07 13:36:49 +09:00
Randy Mackay 90e205c905 AC_PosControl: replace safe_sqrt with pythagorous2 2014-04-01 20:43:51 +09:00
Andrew Tridgell 3b8c6e629d AC_AttitudeControl: updated example for new GPS API 2014-04-01 06:38:25 +11:00
Randy Mackay 3ad635feeb AC_AttControl: 45deg/sec yaw rate for Auto, RTL 2014-03-30 15:44:14 +09:00
Randy Mackay 7bff8e9312 AC_AttControl: constrain earth frame yaw angle error 
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
 2014-03-29 20:42:21 +09:00
Andrew Tridgell 73ae38eaf0 AC_AttitudeControl: fixed example build 2014-03-19 12:13:56 +09:00
Randy Mackay dd45647626 AC_PosControl: update some comments re leash lengths 2014-03-17 10:13:02 +09:00
Holger Steinhaus 345115fddd AC_PosControl: fixed leash length calc for descent speed 2014-03-17 10:12:47 +09:00
Randy Mackay 25ee5d5dc8 AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth 
pair-programmed with lthall
 2014-03-04 22:23:14 +09:00
lthall 15f88c2a2b AC_AttControl: Stabilize input shaping 2014-03-04 21:52:18 +09:00
jschall 024855014f AC_PosControl: update _pos_error if it is being limited 
This fixes a bug that causes 10hz throttle noise.
 2014-02-17 22:33:06 +09:00
Randy Mackay d277b6cabd AC_AttControl: fix @Units parameter descriptions 2014-02-16 22:36:59 +09:00
Andrew Tridgell 856dfd0ee6 AC_AttitudeControl: fixed example build 2014-02-16 18:43:15 +11:00
Randy Mackay 9130c88f15 AC_PosControl: throttle rate to simple P controller 2014-02-16 13:35:44 +11:00
Randy Mackay 34b62fc078 AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX 2014-02-16 13:35:26 +11:00
lthall b8d9bdb794 AC_AttControl: accel limit for roll, pitch yaw rates 2014-02-16 13:35:23 +11:00
Randy Mackay c35bd84e21 AC_AttControl: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 451910fc94 AC_AttControlHeli: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay 94fb9c4274 AC_PosControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall 65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Randy Mackay 78c12eaebf AC_PosControl: get_pos_xy_kP accessor method 2014-02-15 05:27:50 +11:00
Randy Mackay 8baf5ebf4a AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr 2014-02-15 05:27:49 +11:00
Randy Mackay f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 8b8d6a8e01 AC_PosControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 082c5021ee AC_AttControlHeli: add comments 2014-02-15 05:27:47 +11:00
Randy Mackay a7504faa7d TradHeli: empty angle_boost for trad heli 2014-02-15 05:27:44 +11:00
Randy Mackay eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay 2643ee9724 AC_AttControl_Heli: adjust for new slew_yaw param 2014-02-15 05:27:43 +11:00