Jonathan Challinger
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
2016-10-14 10:46:01 +09:00
Jonathan Challinger
630e5378da
AC_PosControl: add get_horizontal_error
2016-07-12 18:40:25 +09:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Andrew Tridgell
d03a232659
AC_AttitudeControl: added set_limit_accel_xy() API
...
for preventing integrator buildup
2016-04-10 22:01:18 +10:00
Randy Mackay
87399776a3
AC_PosControl: hover throttle default to 0.5
2016-04-01 11:59:30 +09:00
Lucas De Marchi
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Randy Mackay
dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
...
No functional change as vehicle code always sets it explicitely
2015-11-18 13:31:20 +09:00
Randy Mackay
550ba478c9
AC_PosControl: add shift_pos_xy_target
2015-10-30 12:24:08 +09:00
Randy Mackay
16a0281c92
AC_PosControl: remove unused set_vel_target
2015-10-30 12:24:07 +09:00
Randy Mackay
ee0abb1750
AC_PosControl: add set_jerk_xy
2015-10-29 12:10:44 +09:00
Randy Mackay
73f4533995
AC_PosControl: minor comment update
2015-10-28 20:21:53 +09:00
Randy Mackay
895a40893d
AC_PosControl: use_desvel_ff flag added
...
This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero. Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
2015-10-28 20:21:52 +09:00
Leonard Hall
aec66c5db6
AC_PosControl: faster z-axis slowdown when over speed
2015-10-28 20:21:38 +09:00
Leonard Hall
f55c31a157
AC_PosControl: add alt hold without feed forward
2015-10-28 17:57:20 +09:00
Leonard Hall
cf5db31053
AC_PosControl: allow limiting lean angle to avoid alt loss
2015-09-07 15:10:10 +09:00
Gustavo Jose de Sousa
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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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
Robert Lefebvre
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
2015-07-14 20:16:58 +09:00
Randy Mackay
6ea60aa662
AC_PosControl: remove default from set_alt_target_from_climb_rate
2015-06-05 15:15:03 +09:00
Randy Mackay
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
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This function simply increments the current altitude target given a
climb rate and dt
2015-05-01 12:56:30 +09:00
Jonathan Challinger
738b1967ad
AC_PosControl: use LowPassFilterVector2f
2015-04-17 10:47:01 +09:00
Jonathan Challinger
8f667b3d1c
AC_PosControl: fix up comments
2015-04-17 10:46:59 +09:00
Leonard Hall
c2a6a0a9e2
AC_PosControl: add accel filter parameter
2015-04-16 21:00:45 +09:00
Leonard Hall
a632a57d79
AC_PosControl: accessors to log z-axis vel and accel
2015-04-16 21:00:32 +09:00
Leonard Hall
0aca3c4be6
AC_PosControl: add relax Alt Hold controllers
2015-04-16 21:00:25 +09:00
Leonard Hall
7cb3c4ba39
AC_PosControl: add feed forward to Alt Hold
2015-04-16 21:00:20 +09:00
Randy Mackay
a1e6a3ee32
AC_PosControl: minor format fix
2015-04-16 21:00:14 +09:00
Jonathan Challinger
3e0dab7b2d
AC_PosControl: remove accel error filter and set throttle output filter instead
2015-04-16 21:00:07 +09:00
Jonathan Challinger
127791127c
AC_PosControl: fix double literals
2015-03-24 06:29:04 -07:00
Randy Mackay
bb74b8dec8
AC_PosControl: fix twitch when entering RTL
...
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
2015-03-13 20:47:19 +09:00
Jonathan Challinger
88ec13b10d
AC_PosControl: fix build
2015-03-11 10:00:00 +09:00
Randy Mackay
965db2c7f7
AC_PosControl: add comments and defines for jerk limits
2015-03-10 22:10:34 +09:00
Jonathan Challinger
4408c1b935
AC_PosControl: 2d jerk constraint in accel_to_lean_angles
2015-03-10 22:10:32 +09:00
Jonathan Challinger
9871b95586
AC_PosControl: fix dt sanity checking
2015-03-10 22:10:30 +09:00
Leonard Hall
7de5bccc93
AC_PosControl: remove THR_HOVER parameter
...
Parameter is set by main code so no need to store to eeprom
2015-03-06 14:02:46 +09:00
Leonard Hall
9866eaded1
AC_PosControl: rename p_alt_pos to p_pos_z
...
Also pid_alt_accel to pid_accel_z
2015-03-06 14:02:44 +09:00
Leonard Hall
349f1aeceb
AC_PosControl: use 2-axis PI controller
2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c
AC_PosControl: integrate PID input filter
2015-03-06 14:02:39 +09:00
Randy Mackay
186337f18e
AC_PosControl: rename xy_mode enum values
...
Also added a few comments and fixed formatting
2015-02-06 17:00:55 +09:00
Jonathan Challinger
3faca88423
AC_PosControl: allow control of xy rate constraint behavior
2015-02-06 17:00:48 +09:00
Robert Lefebvre
14d76d158a
AC_AttitudeControl: Correct comment.
2015-02-03 14:55:30 +09:00
Randy Mackay
07a0388f25
AC_PosControl: move alt limit to set_alt_target_from_climb_rate
...
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
2015-01-30 14:13:52 +09:00
Randy Mackay
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
2015-01-07 14:03:49 +09:00
Randy Mackay
c36253b9b2
AC_PosControl: add comments
...
No functional change
2014-12-31 14:03:22 +09:00
Jonathan Challinger
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
2014-12-31 14:03:18 +09:00
Jonathan Challinger
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
2014-12-31 14:03:13 +09:00
priseborough
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
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Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
2014-12-06 18:16:51 +11:00
priseborough
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
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Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
Randy Mackay
d34ea4c124
AC_PosControl: fix to default force_descend param
2014-11-13 18:40:45 -08:00
Jonathan Challinger
e81c1dd5a1
AC_PosControl: add force_descend option to set_alt_target_from_climb_rate
2014-11-13 18:40:38 -08:00
