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221 Commits

Author SHA1 Message Date
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
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
Iampete1 14a786bdfa AC_AttitudeControl: remove duplicate `_attitude_target.normalize()` 2022-10-18 08:30:46 +11:00
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 be65358cc1 AC_AttitudeControl: incorporate suggested changes 2022-06-28 07:56:12 +09:00
Bill Geyer fd24b3912f AC_AttitudeControl: add comments 2022-06-28 07:56:12 +09:00
Bill Geyer a547916ebf AC_AttitudeControl: only use rate shaping tc if tc is nonzero 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
murata 59dcf18558 AC_AttitudeControl: Shorten survival time of automatic variables 2022-05-16 09:08:02 +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
Leonard Hall b1f80fbe4f AC_AttitudeControl: Remove double colon 2022-02-03 14:36:21 +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
Leonard Hall 0bdf34dc57 AC_AttitudeControl: Respect rate limit in max_rate_step 2022-01-11 10:57:53 +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
Leonard Hall ad278779e3 AC_AttitudeControl: : Add units to the accessors. 2021-09-09 08:01:14 +09:00
Iampete1 2a834508ae AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-25 23:48:52 +01:00
Leonard Hall a32b5b3bb0 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-13 09:51:36 +10:00
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 772cec5101 AC_AttitudeControl: minor format fix 2021-05-12 17:16:00 +10:00
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
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
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
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
Iampete1 7d5e5f8dd7 AC_AttitudeControl: add SITL panic to remind us to implent the quarternion 2021-02-09 12:43:54 +09:00
Leonard Hall 25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Leonard Hall 1129a3fd59 AC_AttitudeControl: use AP_Math control functions 2021-01-20 18:19:40 +11:00
bnsgeyer 04e2cceaff AC_AttitudeControl: Tradheli support for integrator management and hover collective learning 2020-12-21 23:33:48 -05:00
Mark Whitehorn cc2c631d23 AC_AttitudeControl: add AC_AttitudeControl_TS 
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
 2020-12-21 12:56:24 +11:00