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212 Commits

Author SHA1 Message Date
Leonard Hall 2ab3d0b3b0 AC_AttitudeControl: Add Landed Gain Backoff 2024-07-25 09:50:35 +10:00
bnsgeyer c4f4067fd5 AC_AttitudeControl: add accessors to set rate limit 2024-07-01 22:57:55 -04:00
bnsgeyer f06bbd471f AC_AttitudeControl: tradheli-add support for inverted and throttle boost features 2024-07-02 08:39:33 +09:00
Leonard Hall 7047e11090 AC_AttitudeControl: Change input_quaternion to use body frame rates 2024-06-26 11:22:54 +10:00
Iampete1 f3c32a7c9e AC_AttitudeControl: move `euler_rate_to_ang_vel`, `ang_vel_to_euler_rate` and `euler_accel_limit` to Quaternion attitude 2024-05-07 08:34:40 +09:00
Iampete1 576ee75669 AC_AttitudeControl: Heli: invert throttle in inverted flight, move state down to heli 2024-03-05 10:24:06 +09:00
Andy Piper d6287e90f1 AC_AttitudeControl: update PID notch centres 
add documentation for PID notches and D feed-foward
add notches and D feedforward to heli PIDs
add advanced flag to PIDs and selectively compile advanced PID options
 2023-11-21 13:26:23 +11:00
Andy Piper 31a2acb7ad AC_AttitudeControl: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Leonard Hall ffc553f34f AC_AttitudeControl: Fix yaw limit calculations 2023-09-12 19:14:01 +10:00
Randy Mackay ed7ca580c2 AC_AttitudeControl: add const get_rate_pid accessors 2023-09-12 19:14:01 +10:00
Peter Barker b06921fbac AC_AttitudeControl: remove unused defines 2023-08-30 12:30:25 +10:00
Andy Piper 8ecd1d9a37 AC_AttitudeControl: move THR_G_BOOST to Multicopter only 
refactor PD and Angle P boosting into update_throttle_gain_boost()
call update_throttle_gain_boost() from rate_controller_run()
 2023-01-31 08:22:40 +09:00
Andy Piper 53b7f96a5d AC_AttitudeControl: boost PD on roll and pitch when slew limit is hit 
boost angle P when slew limit is hit
move to a single parameter for thrust-gain boosting
add PD scaling support
 2023-01-11 18:59:52 +11:00
Randy Mackay 5981e8bbaa AC_AttitudeControl: add get_rate_ef_targets accessor 2023-01-09 10:34:34 +09:00
Leonard Hall 3c69d28237 AC_AttitudeControl: Support changing update period 2022-12-13 17:10:06 +11:00
Peter Barker 48d25cfc9f AC_AttitudeControl: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Leonard Hall aed694316d AC_AttitudeControl: input_thrust_vector with general heading 2022-11-01 08:21:50 +09:00
Andrew Tridgell bd1be3b41c AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-18 07:38:39 +11:00
Iampete1 07d96361ed AC_AttitudeControl: params always use set method 2022-08-03 13:43:48 +01:00
Bill Geyer 2377d7a2c3 AC_AttitudeControl: move input_shaping_rate into input_shaping_ang_vel 2022-06-28 07:56:12 +09:00
Bill Geyer fd24b3912f AC_AttitudeControl: add comments 2022-06-28 07:56:12 +09:00
bnsgeyer 7594f7a558 AC_AttitudeControl: incorporate sqrt controller in rate shaping 2022-06-28 07:56:12 +09:00
Iampete1 ecc86b6a4b AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-05-27 08:17:14 +10:00
Ruffalo-sunghwan 7fb9d21cbf AC_AttitudeControl : correct comment spelling 2022-05-24 20:27:45 +09:00
Leonard Hall 0d863aa736 AC_AttitudeControl: Allow diabling of slew limit 2022-05-14 22:31:43 +09:00
Andrew Tridgell 99a6cb69f8 AC_AttitudeControl: added get_rpy_srate() 
and remove dmod binding, as slew rate turned out to be more useful
 2022-05-03 10:01:19 +10:00
Andrew Tridgell f8fe74f5fe AC_AttitudeControl: added get_rpy_PDmod method 
used for lua scripts to do VTOL tuning
 2022-04-29 11:54:12 +10:00
Joshua Henderson 4b51dc73b5 AC_Attitude_Control: add get_attitude_target_ang_vel 2022-02-07 08:24:35 +09:00
Iampete1 b3646494d4 AC_AttitudeControl: always use smaller of slew yaw and rate max 2022-02-01 08:19:35 +09:00
Leonard Hall 1ad5479954 AC_AttitudeControl: use relax_integrator 2022-01-25 13:20:47 +09:00
Leonard Hall 7a9a0bfb3f AC_AttitudeControl: Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 2022-01-19 18:03:17 +11:00
Andrew Tridgell 53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
Andrew Tridgell 1b0631669c AC_AttitudeControl: fixed limiting of throttle mix values 
use constrain instead of reset to keep as much of user requested value
as possible

also raise limit for MIX_MIN to 0.5 after discussion with Leonard
 2021-11-23 16:47:25 +09:00
lthall d5286ec533 AC_AttitudeControl: Fix initialize bug 2021-10-01 13:14:46 -04:00
Leonard Hall ad278779e3 AC_AttitudeControl: : Add units to the accessors. 2021-09-09 08:01:14 +09:00
Leonard Hall f57175a84f AC_AttitudeControl: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Leonard Hall a32b5b3bb0 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-13 09:51:36 +10:00
Leonard Hall ac0b320922 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-10 20:25:05 +09:00
Peter Hall 716ceb93c5 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-06-21 09:58:05 +09:00
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
Leonard Hall e253c94f63 AC_AttitudeControl: Remove Unused Function 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
Leonard Hall 86a157ce59 AC_AttitudeControl: Seperate thrust vector correction into a separate function 2021-04-21 12:17:42 +10:00
Leonard Hall d6e3495eca AC_AttitudeControl: support for feedforward rate in angle request for yaw 2021-04-03 12:07:59 +09:00
Peter Hall a43db51440 AC_AttitudeControl: add get_att_target_euler_rad function 2021-03-17 08:13:11 +09:00