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665 Commits

Author SHA1 Message Date
Andrew Tridgell 53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
RickReeser d95c997606 AC_PosControl: fix comment 
In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing:

        // do not ignore limits until we have slowed down for landing
        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
 2021-12-21 07:41:47 +09:00
Leonard Hall 90db81354b AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2021-12-16 09:54:49 +09:00
Leonard Hall 9017ac6723 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2021-12-07 09:47:42 +09:00
Randy Mackay a3886be920 AC_PosControl: minor formatting fix 2021-12-01 08:54:34 +09:00
Josh Henderson e11529ac01 AC_AttitudeControl: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson da418ed520 AC_AttitudeControl: rename Inav get_position_xy() & get_velocity_xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 77711e1505 AP_PosControl: inav use _xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 6243532e69 AC_AttitudeControl: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
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
Iampete1 be6598708e AC_PosControl: remove unused limit flags 2021-11-23 13:49:02 +09:00
Peter Barker 8e15bf09a6 AC_AttitudeControl: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 38479905c0 AC_AttitudeControl: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Andrew Tridgell 3f936baf5c AC_AttitudeControl: adjust docs for rate max limits 
after discussion with Leonard
 2021-11-11 07:22:38 +11:00
divyateja04 7f0bf89003 AC_AttitudeControl: removed empty constructors 2021-10-28 09:07:56 +11:00
lthall d5286ec533 AC_AttitudeControl: Fix initialize bug 2021-10-01 13:14:46 -04:00
lthall 31e7d672c9 AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired 2021-09-23 20:07:52 +09:00
Hwurzburg 502aff27da AC_AttitudeControl: add options to prevent spamming tuning error messages 2021-09-21 07:56:19 +09:00
Josh Henderson a3e475822b AC_AttitudeControl: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Iampete1 ffac134014 AC_PosControl: protect against negative angle max 2021-09-13 07:55:34 +09:00
Leonard Hall ad278779e3 AC_AttitudeControl: : Add units to the accessors. 2021-09-09 08:01:14 +09:00
Leonard Hall 35a93c5988 AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-07 19:04:14 +09:00
Leonard Hall 5337ab0551 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-06 16:00:19 +09:00
Leonard Hall 0fff010046 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Leonard Hall ff58054d1b AC_AttitudeControl: AC_PosControl: Clean up to use .xy() 2021-08-26 12:22:52 +09:00
Leonard Hall 8223d664a7 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-26 12:22:52 +09:00
Leonard Hall 9c097dd6be AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-26 12:22:52 +09:00
Leonard Hall 445e52b821 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-26 12:22:52 +09:00
Iampete1 2a834508ae AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-25 23:48:52 +01:00
Iampete1 df7321c0da AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-21 09:54:33 +01:00
Andrew Tridgell 285798446a AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-19 14:42:28 +10:00
Andrew Tridgell c99f9312db AC_AttitudeControl: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 25ee57080f AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-16 08:33:34 +10:00
Leonard Hall 71ccffd7c9 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Leonard Hall f57175a84f AC_AttitudeControl: Fix Angle Vel units on function 2021-08-11 17:07:29 +09:00
Leonard Hall 870888efeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Leonard Hall 0ad2bf15bc AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-03 17:04:43 +09:00
Peter Barker 5046083863 AC_AttitudeControl: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Leonard Hall ff1843a79c AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-21 16:03:44 +09:00
Leonard Hall 9d845759f8 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-21 15:40:41 +09:00
Leonard Hall f130503cc7 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-21 15:40:41 +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
Leonard Hall e2b5d3d585 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-10 20:25:05 +09:00
Leonard Hall e0e283f13e AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-10 20:25:05 +09:00
Leonard Hall 8a2f75d742 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 6e82bff55b AC_AttitudeControl: Add terain following to guided 2021-07-10 20:25:05 +09:00
Leonard Hall b3acdd49d6 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-10 20:25:05 +09:00
Leonard Hall 8e084a0879 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-10 20:25:05 +09:00
Leonard Hall 8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00