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43,650 Commits 71 Branches 509 Tags 756 MiB
Commit Graph

187 Commits

Author SHA1 Message Date
Iampete1 c27bdafea4 AC_PosControl: correct VELXY_D_FILT Description 2020-06-23 11:40:12 +09:00
Rishabh 6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Peter Barker e477f6c840 AC_PosControl: add documentation for PSC log message 2020-04-06 10:46:45 +10:00
Leonard Hall 29332ac112 AC_PosControl: add relax_velocity_controller_xy 2020-03-11 10:39:18 +09:00
Randy Mackay fc2e15651e AC_PosControl: allow smaller changes in max speed and accel 
also small changes in max speed for z-axis
 2020-02-22 08:53:41 +09:00
Randy Mackay 5e60ae8a26 AC_PosControl: add missing ACCZ param descriptions 2020-02-14 09:20:11 +09:00
Peter Barker d6dbdd58d3 AC_AttitudeControl: adjust for some methods on AP_AHRS become non-const 2020-01-21 11:53:18 +11:00
Luke.Qin c8ef863e6d AC_PosControl: fix minor bug for set_max_speed_z() 2019-11-26 19:28:38 +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 e5f724bc3a AC_PosControl: add high vibration compensation 2019-10-18 11:15:25 +09:00
Leonard Hall 5acfc77a3c AC_AttitudeControl: Support for Standby functions 2019-10-17 14:57:18 +09:00
Leonard Hall 979b54b33e AC_PosControl: support update to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall 78be1067a8 AC_AttitudeControl: Alt Hold init bug 2019-07-17 09:09:25 +09:00
Leonard Hall 32cc642b2e AC_AttitudeControl: Formatting Changes 2019-04-20 09:31:56 +09:00
Randy Mackay 4e494d5a63 AC_PosControl: minor comment fix to pre-arm checks 2019-04-16 11:23:46 +09:00
Randy Mackay 0624f6b8c3 AC_PosControl: minor comment fix 2019-04-16 11:23:46 +09:00
Tom Pittenger ce872d83a4 AC_AttitudeControl: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker eb1fc3107c AC_PosControl: log PSC data in metres in place of centimetres 2019-03-26 10:18:05 +11:00
Peter Barker 50d95943e3 AC_AttitudeControl: add pre-arm checks 2019-03-06 10:36:32 +09:00
Randy Mackay 8710526894 AC_PosControl: constify dt calcs 2019-01-30 15:58:34 +09:00
Randy Mackay b14be4e8ae AC_PosControl: increase accuracy of dt calcs 2019-01-30 15:58:34 +09:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Randy Mackay ba3303dc61 AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target 
This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
 2018-11-26 09:30:32 +09:00
Peter Barker dcd930497a AC_AttitudeControl: AC_PosControl: avoid calling norm() 
The result of this won't be used as often as this loop is called
 2018-10-30 09:00:23 +09:00
Peter Barker dabe8a13f7 AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler 2018-10-09 10:47:38 +11:00
Michael du Breuil 1d13aff711 AC_AttitudeControl: Rename several set_speed and set_accel functions 2018-09-20 15:15:45 -07:00
Leonard Hall b15b5516cb AC_PosControl: Fix divide by zero check in limit_vector_length 2018-09-12 15:51:30 +09:00
Leonard Hall 5863b84c35 AC_PosControl: reduce glitch on init 2018-09-04 13:37:28 +09:00
Michael du Breuil 334ff0fb66 AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway 2018-03-31 13:40:52 +09:00
Randy Mackay ac82a37728 AC_PosControl: run horiz control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay 13007e2a07 AC_PosControl: dataflash logging of PSC message 2018-03-16 13:50:57 +09:00
Randy Mackay 69cfea4057 AC_PosControl: use float for local consts 2018-03-16 13:50:57 +09:00
Leonard Hall dadc6a63c4 AC_PosControl: add set_leash_length_xy 2018-03-16 13:50:57 +09:00
Leonard Hall e5bc2b26fe AC_PosControl: add lean angle max 2018-03-16 13:50:57 +09:00
Leonard Hall 0f3645b061 AC_PosControl: increase velocity gains 2018-03-16 13:50:57 +09:00
Leonard Hall 7ec043502f AC_PosControl: add accel limit to xy controller 2018-03-16 13:50:57 +09:00
Leonard Hall bd13704f6f AC_PosControl: update init for guided 2018-03-16 13:50:57 +09:00
Leonard Hall 85b7f06554 AC_PosControl: combine z position control into single method 2018-03-16 13:50:57 +09:00
Leonard Hall 993e638752 AC_PosControl: combine xy position control into single method 
Also always limit lean angle to maintain altitude
 2018-03-16 13:50:57 +09:00
Leonard Hall 74bb7616a7 AC_PosControl: add accel feedforward 
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
 2018-03-16 13:50:57 +09:00
Randy Mackay 3badcdcfba AC_PosControl: default gains for sub 2018-01-31 08:48:21 +09:00
Randy Mackay 61933c6f1c AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ 2018-01-31 08:48:21 +09:00
Randy Mackay c70d3e0ab8 AC_PosControl: move pids to be local 2018-01-23 12:00:43 +09:00
Randy Mackay 3a73ff1e2e AC_PosControl: replace velocity control with local 2-axis PID 2018-01-23 12:00:43 +09:00
Leonard Hall e249e06714 AC_PosControl: minor enhancement to lean_angles_to_accel 2018-01-20 09:49:58 +09:00
Leonard Hall b9ed8b292a AC_PosControl: pass dt to att control sqrt_controller 2018-01-16 12:13:48 +09:00
Leonard Hall 3e0c24adf9 AC_PosControl: remove out-of-date comments 2018-01-11 21:18:34 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas fa4427fbce AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method 2017-12-05 09:17:15 +09:00
Leonard Hall bd284d9fd7 AC_PosControl: correct lean-angle-to-accel formula 
Thanks to @luweikxy for finding this issue!
 2017-11-24 09:12:00 +09:00