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26,158 Commits 71 Branches 510 Tags 754 MiB
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Commit Graph

407 Commits

Author SHA1 Message Date
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