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614 Commits

Author SHA1 Message Date
Andrew Tridgell 66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell 7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell 5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Leonard Hall 47b0ac663a AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-06-24 09:01:07 +10:00
Leonard Hall ffc64c3042 AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-06-23 10:58:50 +09:00
Leonard Hall d599052da3 AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-06-23 10:29:23 +09:00
Leonard Hall d9529e1be3 AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-06-21 14:14:23 +09:00
Peter Hall 716ceb93c5 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-06-21 09:58:05 +09:00
Hwurzburg 27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
Hwurzburg 3f4d4e45fc AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
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allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages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 359cf8ed0e AC_AttitudeControl: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall fb83f98b77 AC_AttitudeControl: Set rates to zero during arming procedure for acro 2021-05-26 16:03:05 +09:00
Leonard Hall 34e342f658 AC_AttitudeControl: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Leonard Hall b489dd5fe1 AC_AttitudeControl: Set yaw rate to zero during arming procedure 2021-05-26 16:03:05 +09:00
Hwurzburg ff931c7490 AC_AttitudeControl: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +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 772cec5101 AC_AttitudeControl: minor format fix 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 e253c94f63 AC_AttitudeControl: Remove Unused Function 2021-04-27 17:13:55 +09:00
Leonard Hall bb46f7a947 AC_PosControl: Thrust Vector output 2021-04-27 17:13:55 +09:00
Leonard Hall 1fb2a95486 AC_AttitudeController: Thrust Vector attitude control 2021-04-27 17:13:55 +09:00
Peter Barker a3c329b182 AC_AttitudeControl: make parameter renames consistent 2021-04-21 12:17:42 +10:00
Leonard Hall b43c7f4ed1 AC_AttitudeControl: Parameter rename (non-functional) 2021-04-21 12:17:42 +10:00
hs293go de0c57de77 AC_AttitudeControl: Use Quaternion::operator* for vector rotation 
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
 2021-04-21 12:17:42 +10:00
Leonard Hall 86a157ce59 AC_AttitudeControl: Seperate thrust vector correction into a separate function 2021-04-21 12:17:42 +10:00
Leonard Hall c28d103afe AC_AttitudeControl: Fix Angular velocity rotation to body frame 
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
 2021-04-19 14:48:59 +10:00
Leonard Hall 6a8ba6f329 AC_PosControl_Sub: update for new position controller changes 2021-04-03 12:07:59 +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 ae66803148 AC_AttitudeControl: minor optimisation and comment fixes 2021-04-03 12:07:59 +09:00
Leonard Hall d6e3495eca AC_AttitudeControl: support for feedforward rate in angle request for yaw 2021-04-03 12:07:59 +09:00
Peter Hall aa75fc2c3d AC_PosControl: use target lean angles rather than true for init 2021-03-17 08:13:11 +09:00
Peter Hall a43db51440 AC_AttitudeControl: add get_att_target_euler_rad function 2021-03-17 08:13:11 +09:00
Leonard Hall e788d63686 AC_AttitudeControl: clear up comment for inertial_frame_reset 2021-02-17 21:19:18 +09:00
Leonard Hall f53242b323 AC_AttitudeControl: rename thrust_heading_rotation_angles args 2021-02-10 18:35:58 +11:00
Leonard Hall ad6e2eeed8 AC_AttitudeControl: remove feed-forward from run_quat 2021-02-10 18:35:58 +11:00
Leonard Hall 8ace1bfad1 AC_PosControl: const local vars and remove todo 2021-02-10 13:26:23 +09:00
Randy Mackay 0703a1cf93 AC_PosControl: add PSCZ logging 2021-02-09 19:33:52 +09:00
Randy Mackay 9f914d9e7d AC_PosControl: add get_z_accel_cmss helper function 2021-02-09 19:33:52 +09:00
Iampete1 7d5e5f8dd7 AC_AttitudeControl: add SITL panic to remind us to implent the quarternion 2021-02-09 12:43:54 +09:00
Iampete1 791e68b4ef AC_AttitudeControl: add 6DoF support 2021-02-09 12:43:54 +09:00
Patrick José Pereira e3d018c401 AC_AttitudeControl: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00