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13,182 Commits 71 Branches 509 Tags 758 MiB
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136 Commits

Author SHA1 Message Date
Randy Mackay ec2308bcd2 AC_AttControl: bug fix for ef target during acro 2014-08-23 22:22:03 +09:00
Randy Mackay d7d90b4ff8 AC_AttControl: remove debug message 2014-08-22 22:59:53 +09:00
Randy Mackay 06e06438b3 AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion 2014-08-22 22:59:47 +09:00
Randy Mackay 91817b0884 AC_AttControl: div-by-zero check for bf-to-ef conversion 2014-08-22 22:59:43 +09:00
Randy Mackay 440f4ebb95 AC_AttControlHeli: add passthrough_bf_roll_pitch_rate_yaw 2014-08-22 21:37:19 +09:00
Robert Lefebvre 9326d36e54 AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor function. 2014-08-22 21:37:08 +09:00
Robert Lefebvre 244d38138e AC_AttitudeControl_Heli: Add passthrough_to_motor_roll_pitch function. 2014-08-22 21:37:06 +09:00
Robert Lefebvre deaffecbf5 AC_AttitudeControl_Heli: Create Flybar Passthrough flag which will be used for control pass-through. 2014-08-22 21:36:57 +09:00
Randy Mackay 58257e3858 AC_AttControl: set rate D term filter from ins filter 2014-08-14 11:47:35 +09:00
lthall 329118b7c9 Copter: AC_ATT correct yaw error calculation 2014-08-14 11:47:13 +09:00
lthall 90dc9411a5 Copter: ACRO Error calculation fix 2014-08-14 11:47:08 +09:00
Andrew Tridgell a9153519dc AC_AttitudeControl: fixed example build 2014-08-13 21:45:38 +10:00
Randy Mackay e0fc2dd50e AC_PosControl: remove 20cm on takeoff 2014-08-05 09:11:57 +09:00
Randy Mackay 1362bdc338 AC_PosControl: smooth take-off with accel PID's I term 
This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
 2014-08-04 21:04:09 +09:00
Randy Mackay e550c1e9a3 AC_PosControl: add set_alt_target_to_current_alt method 2014-08-04 16:54:04 +09:00
Randy Mackay 424cb1aeca AC_AttControl: fix example sketch 2014-07-29 12:00:33 +09:00
Andrew Tridgell 6df2890fd8 AC_AttitudeControl: fixed example build 2014-07-25 17:52:53 +10:00
Randy Mackay c2f8571f37 AC_AttControl: FF and accel limiting off by default 
Also adjust parameter ranges used by GCSs
 2014-07-17 16:22:32 +09:00
Randy Mackay eebd32f306 AC_AttControl: remove duplicate rate_ef_desired to resolve compiler warning 2014-07-16 21:50:31 +09:00
lthall fb55658c91 Copter: Acro use same error limit in all three axis 2014-07-16 17:46:13 +09:00
lthall 2889f5abc4 AC_AttControl: Fix feedforward behavior 2014-07-16 17:46:06 +09:00
Randy Mackay 581838b271 AC_AttControl: initialise _acro_angle_switch 
Resolves a compiler warning
 2014-07-16 15:11:12 +09:00
Randy Mackay 83a84c7b90 AC_AttControl: add empty virtual destructor 
This resolves pixhawk bricking and reduces one compiler warning
 2014-07-16 14:56:52 +09:00
Jonathan Challinger 6e66cf43cb AC_AttitudeControl: Use bias-corrected angular rates instead of raw gyro measurements 2014-07-16 14:40:56 +09:00
Randy Mackay 70568225a6 AC_PosControl: init members to resolve compiler warnings 2014-07-16 14:38:40 +09:00
Randy Mackay 9233bbab14 AC_PosControl: cast fabs to float to resolve compiler warnings 2014-07-16 14:38:38 +09:00
Randy Mackay 76507a9e67 AC_AttControlHeli: remove hal declaration to clear compiler warning 2014-07-16 14:38:32 +09:00
Randy Mackay 5128991a84 AC_AttControlHeli: cast fabs to float to resolve compiler warning 2014-07-16 14:38:29 +09:00
Randy Mackay 0f7178e447 AC_AttControl: cast fabs to float to resolve compiler warning 2014-07-16 14:38:20 +09:00
Jonathan Challinger 762bb3e6e8 AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error 2014-07-13 21:14:34 +09:00
Jonathan Challinger 5f66027ba3 AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl 2014-07-13 17:17:31 +09:00
Robert Lefebvre a7f6a91827 AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero. 2014-07-13 17:11:20 +09:00
Randy Mackay 971411e0db AC_AttControl: fixed typo in parameter description 2014-07-13 10:31:11 +09:00
Randy Mackay 5f623ac859 AC_AttControl: re-enable rate feedforward by default 
Roll and Pitch rate controllers became sluggish without feed-forward
enabled.
 2014-07-11 15:31:00 +09:00
Andrew Tridgell 8af876fe8a AC_AttitudeControl: fixed build 
includes are case sensitive on the build server
 2014-07-09 10:19:17 +10:00
Robert Lefebvre 26be7aed97 AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms 2014-07-08 20:18:13 +09:00
Randy Mackay 82ed70b25e AC_PosControl: add xyz velocity controller 
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward).  These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
 2014-07-06 17:01:02 +09:00
Randy Mackay 0c9a496262 AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter 
Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
 2014-06-10 21:25:33 +09:00
Randy Mackay 46f25c52a4 AC_AttControl: allow enabling/disabling feedforward and accel limiting 2014-06-10 20:03:02 +09:00
Randy Mackay 130eb07d48 AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel 2014-06-10 20:02:58 +09:00
Randy Mackay 02b4b21f67 AC_AttControl: disable feed forward by default 
Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
 2014-06-10 20:02:55 +09:00
Randy Mackay b57c0dabf6 AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled 
We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not.  This is related to separate from the
body-frame-feed-forward.
 2014-06-10 20:02:54 +09:00
Randy Mackay 2bb30b3ef9 AC_AttControl: add set_yaw_target_to_current_heading method 2014-06-10 20:02:49 +09:00
Randy Mackay d9c966c927 AC_AttControl: RATE_FF_ENAB param to disable rate feed forward 2014-06-10 20:02:48 +09:00
Randy Mackay 4d4c7a2118 AC_AttControl: move freeze_ff to flags structure 2014-06-10 20:02:46 +09:00
Randy Mackay a662f87ffb AC_AttControl: remove resolved To-Do 
This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
 2014-06-10 20:02:45 +09:00
Randy Mackay 7f734f38d6 AC_AttControl: add earth frame angle constraints 
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
 2014-06-10 20:02:43 +09:00
Randy Mackay 698cf934b8 AC_AttControl: formatting fixes 2014-06-10 20:02:42 +09:00
lthall 2bb63857fa AC_AttControl: clean up stabilize 2014-06-10 20:02:40 +09:00
lthall c24d293e1b AC_AttControl: zero _accel_xyz_max stops feed forward 
Also added place holder for turning off feed forward.
 2014-06-10 20:02:39 +09:00