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49 Commits

Author SHA1 Message Date
Leonard Hall 0ad2bf15bc AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-03 17:04:43 +09:00
Hwurzburg 27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
Leonard Hall b43c7f4ed1 AC_AttitudeControl: Parameter rename (non-functional) 2021-04-21 12:17:42 +10:00
Andrew Tridgell 0a7c628355 AC_AttitudeControl: added SMAX param docs 2020-10-25 10:32:48 +11:00
Randy Mackay aff854f485 AC_AttitudeControl: update param ranges 2020-02-26 08:02:27 +09:00
Leonardo Felipe L. S. dos Santos 07f45e1ef9 AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of 
throttle_in
 2020-01-29 10:58:56 +09:00
Randy Mackay b9ff846162 AC_AttitudeControl: remove old RAT_FILT param desc 2020-01-21 13:06:56 +09:00
Leonard Hall 3ca713fdcb AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Leonard Hall 5afb5b4956 AC_AttitudeControl: Prevent loss of yaw control during large angle recovery. 2019-10-31 11:53:27 +08:00
Leonard Hall 0834726b48 AC_AttitudeControl: Support System ID tests 2019-10-16 08:17:09 +09:00
Leonard Hall 7f5d6662b3 AC_AttitudeControl: Support seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Leonard Hall bbe33e38f3 AC_AttitudeControl: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall 32cc642b2e AC_AttitudeControl: Formatting Changes 2019-04-20 09:31:56 +09:00
Andrew Tridgell 9766c4ed26 AC_AttitudeControl: fixed use of double precision maths 2018-05-07 11:43:23 +10:00
Leonard Hall 691abab95e AC_AttitudeControl: Update parameter ranges 2018-01-27 11:38:09 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 188dfb6936 AC_AttitudeControl: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Randy Mackay 67097c8d59 AC_AttitudeControl: use gyro_latest 
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
 2017-03-03 13:14:28 +11:00
Randy Mackay d79403707b AC_AttControl: add feed forward param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
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
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
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -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
Peter Barker 2e2d39e628 AC_AttitudeControl: add missing parameter metadata 2016-10-27 09:15:03 -07:00
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
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +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 8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +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 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
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
Leonard Hall 25c77c154f AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted 2016-06-18 11:55:49 +09:00
Leonard Hall 35ef761deb AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli 2016-06-18 11:55:49 +09:00
Randy Mackay 35c6ea994d AC_AttControl_Multi: fix parameter descriptions 2016-04-01 11:59:30 +09:00
Randy Mackay 5edc16dfb4 AC_AttControl_Multi: add rate PIDs 2016-04-01 11:59:30 +09:00
Leonard Hall 6f29bbafb4 AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 24f975c16a AC_AttControl_Multi: fix throttle boost for 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall bab08cbcc1 AC_AttControl_Multi: add divide by zero check 2016-04-01 11:59:30 +09:00
Randy Mackay 8c7f36563c AC_AttControl: bug fix to angle_boost reporting 
Thanks to OXINARF for finding this
 2016-01-08 10:48:59 +09:00
Randy Mackay 5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Leonard Hall 29ff5035b4 AC_AttControl: limit lean angle from throttle 2015-09-07 15:10:09 +09:00
Gustavo Jose de Sousa d49f10d2e5 AC_AttitudeControl: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:41 +10:00
Randy Mackay bf2bf2e3fa AC_AttControl_Multi: new multirotor specific attitude control class 2015-07-21 16:25:53 +09:00