165 Commits

Author	SHA1	Message	Date
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