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37 Commits

Author SHA1 Message Date
Andy Piper eeda86ccb4 AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument 2024-09-26 19:25:33 +10:00
Andy Piper 6b5da48641 AC_AttitudeControl: provide function to reset target modifiers 2024-09-26 19:25:33 +10:00
Andy Piper c28e38e9b5 AC_AttitudeControl: pass in gyro sample to rate controller 2024-09-26 19:25:33 +10:00
lthall 728d9a9f96 Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ 2024-02-24 08:45:35 +09:00
Andy Piper 5b2d760365 AC_AttitudeControl: ensure yaw gets a FLTD default 2024-02-24 08:45:35 +09:00
Andy Piper d6287e90f1 AC_AttitudeControl: update PID notch centres 
add documentation for PID notches and D feed-foward
add notches and D feedforward to heli PIDs
add advanced flag to PIDs and selectively compile advanced PID options
 2023-11-21 13:26:23 +11:00
Randy Mackay ed7ca580c2 AC_AttitudeControl: add const get_rate_pid accessors 2023-09-12 19:14:01 +10:00
Peter Barker 70109f968c AC_AttitudeControl: tidy AC_PID construction 2023-08-31 11:09:10 +10:00
Andy Piper 8ecd1d9a37 AC_AttitudeControl: move THR_G_BOOST to Multicopter only 
refactor PD and Angle P boosting into update_throttle_gain_boost()
call update_throttle_gain_boost() from rate_controller_run()
 2023-01-31 08:22:40 +09:00
Leonard Hall 3c69d28237 AC_AttitudeControl: Support changing update period 2022-12-13 17:10:06 +11:00
Peter Barker 48d25cfc9f AC_AttitudeControl: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
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 32cc642b2e AC_AttitudeControl: Formatting Changes 2019-04-20 09:31:56 +09:00
Leonard Hall c00ee6aac5 AC_AttitudeControl: increase rate I gain to match P gain 2019-04-12 09:28:24 +09:00
Peter Barker 7e3ca19308 AC_AttitudeControl: add override keyword in many places 2018-11-08 11:30:12 +11:00
Leonard Hall ad74769fb7 AC_AttControl: adjust default rate IMAX and Yaw Filt 
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
 2017-06-01 10:08:41 +09:00
Andrew Tridgell fe3e7e8153 AC_AttitudeControl: added get_throttle_mix() 
and when we use set_throttle_mix_value(), set both desired and actual

thanks to Leonard for the suggestions
 2017-04-19 09:08:43 +10:00
Andrew Tridgell e5ed20d6f7 AC_AttitudeControl: added set_throttle_mix_value() 
used by quadplane
 2017-02-26 09:20:51 +11:00
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
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
Andrew Tridgell 5cf1c0869d AC_AttitudeControl: expose all functions via abstract class 
this allows for a single class to be used for heli and multicopter
 2017-01-12 17:39:37 +11:00
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 b27da7699e AC_AttitudeControlMulti: get_throttle_avg_max made private 
Also fixed up method's description
 2016-06-18 11:55:49 +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 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 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 ace58d114f AC_AttControl_Multi: reduce rate gain defaults 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
Lucas De Marchi f42484bcc5 AC_AttitudeControl: replace header guard with pragma once 2016-03-16 18:40:39 +11:00
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