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56 Commits

Author SHA1 Message Date
Willian Galvani 830c1a4a3e Sub: stop position control when in velocity mode 2022-09-15 11:06:23 -03:00
Iampete1 cf1e1b2969 ArduSub: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
GH6947 9304fa0f52 Sub: roll pitch comments 
In ArduSub modes Auto & Guided, direct (not translated to forward/lateral) Roll and Pitch values come from the RC channels, not from wp controller. The existing comments are leftovers from ArduCopter
 2022-05-26 10:09:23 +09:00
Josh Henderson bdac4a2416 Sub: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson 5391262900 ArduSub: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
Peter Barker b7eec83f52 ArduSub: remove unused GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM define 2021-11-29 15:09:00 +11:00
Josh Henderson 69997626d3 Sub: modes keep controllers initialized when disarmed 2021-09-28 17:03:16 +10:00
Leonard Hall f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Andrew Tridgell fd758113ce Sub: no need to fabs() get_default_speed_down() as it does fabs already 2021-09-07 18:55:00 +09:00
Leonard Hall c2f7702094 Sub: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Leonard Hall 48a99df2b3 Sub: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 5a133dac84 Sub: adjust for AttitudeControl library changes 2021-07-10 20:25:05 +09:00
Andrew Tridgell 70f874e288 Sub: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell 18dd373ff5 Sub: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall 4c3a5c0918 Sub: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 266bd22df3 Sub: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Randy Mackay afa59b9a60 Sub: integrate s-curves, remove spline support 2021-04-03 12:07:59 +09:00
Josh Henderson f7b39b19f0 ArduSub: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Randy Mackay a8f4ab3d43 Sub: guided pos hold init loses redundant set-auto-yaw-mode 
also use wpnav's 3d stopping point method
 2020-11-27 10:52:17 +09:00
Peter Barker cb88bc7f53 Sub: adjust for desired spool state renames 2019-04-14 12:18:03 +09:00
Leonard Hall d8d3522cba Sub: replace set_throttle_out_unstabilized 2019-04-08 09:42:21 +09:00
Peter Barker 706a75ad03 Sub: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Randy Mackay aa7743e991 Sub: integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker b4c65dde92 Sub: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Randy Mackay 8ba87171e6 Sub: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Peter Barker 47b5cf98ea Sub: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Michael du Breuil 27fad4489e Sub: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Patrick José Pereira 4de371743e Sub: Move from millis() to AP_HAL::millis() 
AP_HAL::millis() is a more common style around the rest of the project

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-12 17:27:56 -04:00
Randy Mackay d43341c532 Sub: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay 2154d08185 Sub: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Randy Mackay 2697e19513 Sub: guided removes xy mode from calls to pos-con 
Also always limit angle to maintain altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay da17034a3d Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
ChrisBird 0fb679b2b2 Sub: Separate max ascent and descent speeds 
This is to match a change made to Copter.

It might be relevant to sub in that users may wish to have asymmetrical descent and ascent rates.

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Modes impacted:
ALT_HOLD
CIRCLE
POSHOLD

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.

The above behavior is less of a concern for Sub but to keep it consistent its been implemented it the same way.
 2017-12-28 15:16:08 -05:00
Dr.-Ing. Amilcar Do Carmo Lucas 63639a0838 Sub: Guided_PosVel mode: reject destination if outside the fence 
Also: log guided destination and velocity and rename a variable to pos_neu_cm to better reflect the meaning
 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 9f6342a1d1 Sub: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
Jacob Walser b7de1eb88a Sub: failsafe.manual_control -> failsafe.pilot_input 
reset pilot input failsafe timer when RC_CHANNELS_OVERRIDE is received
 2017-04-16 14:25:13 -04:00
Jacob Walser f7c4810eaa Sub: Remove ignore_check argument from control mode init functions 2017-04-16 14:25:13 -04:00
Jacob Walser 7a6318434f Sub: Fix throttle value in some calls to 
pos_control.relax_alt_hold_controllers
 2017-04-16 14:25:13 -04:00
Jacob Walser 84527d6e66 Sub: Remove unused auto_armed flag 2017-04-14 13:26:37 -04:00
Jacob Walser c16046aadf Sub: Remove unused motor emergency stop and interlock 2017-04-14 13:26:37 -04:00
Jacob Walser 8dc09440d8 Sub: Implement guided mode 2017-03-08 15:58:28 -05:00
Jacob Walser 1990aa7829 Sub: Update stale references to Copter 2017-02-21 11:26:14 +11:00
Jacob Walser 4112fd1316 Sub: Remove mode header 2017-02-21 11:26:14 +11:00
Jacob Walser 5233b25910 Sub: Format all C++ with Tools/CodeStyle/astylerc 2017-02-21 11:26:14 +11:00
Jacob Walser ed87bd9e59 Sub: fixes from rebase on ArduPilot master 2017-02-21 11:26:14 +11:00
Jacob Walser 852374ab4d Sub: Manual control failsafe 2017-02-21 11:26:14 +11:00
Jacob Walser bb3e32d391 Sub: Make checks stricter on flight mode init 
Also return fail mode init for unimplemented modes
 2017-02-21 11:26:14 +11:00
Jacob Walser a430f5a7ae Sub: Remove land/landed code 2017-02-21 11:26:14 +11:00
Rustom Jehangir e9c2ad9192 Sub: Changes to match upstream Copter changes. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 814605c461 Sub: Make changes to match Copter changes 2017-02-21 11:26:14 +11:00