Peter Barker
cc5af90d1a
AP_Arming: home state has moved to AP_AHRS
2018-03-19 10:32:37 +09:00
Peter Barker
3a5807ae56
AP_AHRS: move home_status into AP_AHRS
...
Storing home in the AHRS object but not its state is clearly evil.
Fix that.
2018-03-19 10:32:37 +09:00
Holger Steinhaus
8b8a99e1aa
AP_HAL_PX4: fix possible overflow/truncation issue
...
bus_id is declared to be a 5 bit value, so 2 digits are necessary for
string representation.
2018-03-17 16:32:56 +01:00
Holger Steinhaus
5af02dde59
AP_Proximity: fix possible overflow/truncation issue
2018-03-16 22:37:16 +01:00
Lucas De Marchi
43750d6f77
AP_SmartRTL: use ins singleton
2018-03-16 00:37:35 -07:00
Lucas De Marchi
daa8819619
AP_OpticalFlow: use ins singleton
2018-03-16 00:37:35 -07:00
Lucas De Marchi
8114db3fdc
AP_Module: use ins singleton
2018-03-16 00:37:35 -07:00
Lucas De Marchi
25490b6151
AP_Mission: use ins singleton
2018-03-16 00:37:35 -07:00
Lucas De Marchi
517f71c183
AP_AHRS: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
622be10163
AP_TempCalibration: do not take reference to ins
2018-03-16 00:37:35 -07:00
Peter Barker
f0daf392a5
AP_TECS: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
e2de9d62cd
APM_Control: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
3190974e4f
DataFlash: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
55b8a2288e
AP_NavEKF3: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
40957ec430
AP_NavEKF2: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
9f556197a0
AP_Mount: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
f0d06e7a9c
AP_Arming: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
1dabcc473d
AP_AHRS: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
7cc808543f
AC_Precland: use ins singleton
2018-03-16 00:37:35 -07:00
Randy Mackay
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
2018-03-16 13:50:57 +09:00
Randy Mackay
33f437a72c
AC_AttitudeControl: use multiply instead of divide
2018-03-16 13:50:57 +09:00
Leonard Hall
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
2018-03-16 13:50:57 +09:00
Randy Mackay
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
9e0a57eec7
DataFlash: minor formatting fixes
...
non-functional change
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
Randy Mackay
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
69cfea4057
AC_PosControl: use float for local consts
2018-03-16 13:50:57 +09:00
Randy Mackay
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
2018-03-16 13:50:57 +09:00
Randy Mackay
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
2018-03-16 13:50:57 +09:00
Leonard Hall
a356cfa529
AC_Circle: init resets desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
2018-03-16 13:50:57 +09:00
Leonard Hall
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
2018-03-16 13:50:57 +09:00
Leonard Hall
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
2018-03-16 13:50:57 +09:00
Leonard Hall
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
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
0f3645b061
AC_PosControl: increase velocity gains
2018-03-16 13:50:57 +09:00
Leonard Hall
7ec043502f
AC_PosControl: add accel limit to xy controller
2018-03-16 13:50:57 +09:00
Leonard Hall
bd13704f6f
AC_PosControl: update init for guided
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
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
2018-03-16 13:50:57 +09:00
Randy Mackay
b3de52dc59
AC_AttitudeControl: minor comment fix
2018-03-16 13:50:57 +09:00
Leonard Hall
05418d3d29
AC_AttitudeControl: add EKF reset handling
2018-03-16 13:50:57 +09:00
Leonard Hall
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
...
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
2018-03-16 13:50:57 +09:00
Leonard Hall
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
...
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
2018-03-16 13:50:57 +09:00
