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228 Commits

Author SHA1 Message Date
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Leonard Hall c8872e082d AC_AttControl: rename set_throttle_out parameter 
No functional change
 2015-09-07 15:10:15 +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 0bf1d04172 AC_AttControl: relax earth frame rate targets along with bf 2015-07-28 15:16:22 +09:00
Randy Mackay 93dd7dd970 AC_AttControl: get_boosted_throttle purely virtual 2015-07-21 16:25:50 +09:00
Randy Mackay 1e3e65e443 AC_AttControl: add shift_ef_yaw_target 
This allows shifting the target heading in case the EKF shifts it's
heading estimate
 2015-06-24 11:49:32 +09:00
Andrew Tridgell 521dae1c65 AC_AttitudeControl: use set_desired_rate() on PID controllers 
this sets them up for logging of PIDs
 2015-05-27 14:28:49 +10:00
Robert Lefebvre 23adf2773c AC_AttitudeControl: Remove To-Do comments for Attitude Rate logging. 2015-05-27 14:28:44 +10:00
Robert Lefebvre 915236f1f5 AC_AttitudeControl: Non-functional comment change 
Don't encourage future misuse of g.rc3
 2015-05-25 22:13:37 +09:00
Andrew Tridgell 326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 1bca81eaed AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Jonathan Challinger ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00
Leonard Hall 24b8d32b0e AC_AttitudeControl: add comment 2015-04-16 21:00:22 +09:00
Jonathan Challinger b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger 518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger 5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Leonard Hall afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Jonathan Challinger e2383581cc AC_AttitudeControl: relax_bf_rate_controller resets rate integrators 2015-03-06 14:02:57 +09:00
Leonard Hall 20de383084 AC_AttControl: accel limiting for angular control only if feed forward enabled 2015-03-06 14:02:52 +09:00
Leonard Hall 792b2a2eb3 AC_AttControl: separate accel max for roll, pitch, yaw 
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
 2015-03-06 14:02:33 +09:00
Leonard Hall 9833c91b2b AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw 2015-03-06 14:02:30 +09:00
Leonard Hall eb084f7c58 AC_AttControl: bf yaw control uses input filtered PID 2015-03-06 14:02:21 +09:00
Jonathan Challinger 7224669399 AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth 2014-10-27 15:20:46 +09:00
Jonathan Challinger 0c4a489491 AC_AttitudeControl: use sqrt_controller function 2014-10-27 15:20:43 +09:00
Randy Mackay fc898a00a3 AC_AttControl: add sqrt_controller 
Original code by Jonathan Challinger
 2014-10-27 15:20:40 +09:00
Randy Mackay f65e81cb07 AC_AttControl: remove some old comments 2014-10-04 23:49:21 +09:00
Randy Mackay 5a66ff1ef9 AC_AttControl: bug fix for ef target during acro 2014-08-23 22:17:54 +09:00
Randy Mackay 3e0b573dfe AC_AttControl: remove debug message 2014-08-22 22:58:48 +09:00
Randy Mackay c45338f080 AC_AttControl: div-by-zero check for bf-to-ef conversion 2014-08-22 22:56:15 +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
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
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 0f7178e447 AC_AttControl: cast fabs to float to resolve compiler warning 2014-07-16 14:38:20 +09:00
Randy Mackay 971411e0db AC_AttControl: fixed typo in parameter description 2014-07-13 10:31:11 +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 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 d9c966c927 AC_AttControl: RATE_FF_ENAB param to disable rate feed forward 2014-06-10 20:02:48 +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
lthall 922026c15c AC_AttControl: rate compensation for yaw 2014-06-10 20:02:34 +09:00
Randy Mackay 5209598459 AC_AttControl: rename init_targets to relax_bf_rate_controller 2014-06-10 20:02:27 +09:00
lthall 1bdde31f6b Copter: Fix zero throttle flip issue Stabilize 
The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
 2014-06-10 20:02:01 +09:00
Randy Mackay 0969e464fb AC_AttControl: set roll, pitch, yaw rate control D term filters 2014-05-29 17:40:17 +09:00
Randy Mackay 5876a2fe47 AC_AttControl: increase default rp accel to 900deg/s/s 2014-04-07 13:37:08 +09:00
Randy Mackay 7bff8e9312 AC_AttControl: constrain earth frame yaw angle error 
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
 2014-03-29 20:42:21 +09:00
Randy Mackay 25ee5d5dc8 AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth 
pair-programmed with lthall
 2014-03-04 22:23:14 +09:00
lthall 15f88c2a2b AC_AttControl: Stabilize input shaping 2014-03-04 21:52:18 +09:00
Randy Mackay d277b6cabd AC_AttControl: fix @Units parameter descriptions 2014-02-16 22:36:59 +09:00
lthall b8d9bdb794 AC_AttControl: accel limit for roll, pitch yaw rates 2014-02-16 13:35:23 +11:00
Randy Mackay ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall 65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Randy Mackay f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay 2db24659d0 AC_AttControl: add slew_yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 2dae0d68c5 AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params 
These replace the ANGLE_RATE_MAX parameter from the main code
 2014-02-15 05:27:42 +11:00
Randy Mackay a2b017abd2 AC_AttControl: add rateef_rpy 
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
 2014-02-15 05:27:40 +11:00
Randy Mackay 468be05867 AC_AttControl: make ahrs, ins objects const 2014-02-15 05:27:40 +11:00
Randy Mackay 4003b4da9b AC_AttControl: leonard's body frame rate controller 2014-02-15 05:27:38 +11:00
Randy Mackay ba3ba9e157 AC_AttControl: bug fix for yaw target handling 2014-02-15 05:27:37 +11:00
Randy Mackay 9fe4d883d0 AC_AttControl: accessor for lean angle max 2014-02-15 05:27:35 +11:00
Randy Mackay 0e0a15f4a8 AC_AttControl: add high level angle controllers 2014-02-15 05:27:35 +11:00
Randy Mackay 89b7e6b1c8 AC_AttControl: implement angle_boost 2014-02-15 05:27:34 +11:00
Randy Mackay 715c8eaf02 AC_AttitudeControl: first draft of library 2014-02-15 05:27:32 +11:00