Commit Graph

447 Commits

Author SHA1 Message Date
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
Leonard Hall
692e6518cc AC_AttitudeControl: update param desc values for large copters 2018-01-27 11:54:04 +09:00
Leonard Hall
691abab95e AC_AttitudeControl: Update parameter ranges 2018-01-27 11:38:09 +09:00
Randy Mackay
9c00eb3d5f AC_PosControl_Sub: move pids to be local 2018-01-23 12:00:43 +09:00
Randy Mackay
c70d3e0ab8 AC_PosControl: move pids to be local 2018-01-23 12:00:43 +09:00
Randy Mackay
00037fd50e AC_PosControl_Sub: replace velocity pi with local pid 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
d5976442f8 AC_PosControl: minor comment change
non-functional change
2018-01-19 15:40:32 +09:00
Leonard Hall
3ada0f32b0 AC_AttitudeControl: minor comment update
Non-functional change
2018-01-19 15:40:24 +09:00
Leonard Hall
b9ed8b292a AC_PosControl: pass dt to att control sqrt_controller 2018-01-16 12:13:48 +09:00
Leonard Hall
62cc25022c AC_AttitudeControl: protect against overshoot in sqrt controller 2018-01-16 12:13:48 +09:00
Leonard Hall
75de0cb4ef AC_AttitudeControl: sqrt_controller accepts dt 2018-01-16 12:13:48 +09:00
Leonard Hall
cddd815a75 AC_AttitudeControl: comment thrust_heading_rotation_angles
non-functional change
2018-01-12 15:20:47 +09:00
Leonard Hall
3e0c24adf9 AC_PosControl: remove out-of-date comments 2018-01-11 21:18:34 +09:00
ChristopherOlson
569f55f5c6 AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
2017-12-14 20:46:13 +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
Leonard Hall
ebd864d2d2 AC_PosControl: minor update to comments 2017-11-16 09:46:28 +09:00
Randy Mackay
6315e6eb45 AC_AttitudeControl: remove unused get_tilt_limit_rad 2017-11-15 20:22:02 +09:00
bnsgeyer
e8173f27df AC_AttitudeControl: reset target attitude
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
2017-10-28 12:31:06 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division 2017-10-23 09:20:17 -07:00
Andrew Tridgell
f2efea4e1d AC_AttitudeControl: added inverted flight support
for helis
2017-10-03 10:16:41 +11:00
Andrew Tridgell
99aad41955 AC_AttitudeControl: added a update_vel_controller_xy() API
this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
Andrew Tridgell
1a25087dd5 AC_AttitudeControl: fixed PIRO_COMP index
this is a new conflict due to stricter checking in AP_Param
2017-08-14 09:28:57 +09:00
Leonard Hall
ed0063d10d AC_AttControl: save accel max using shorter set_and_save
no functional change
2017-06-22 15:20:16 +09:00
Leonard Hall
0544cf1d82 AC_AttControl: add step input for autotune 2017-06-22 15:18:04 +09:00
Peter Barker
d56eca036d AC_AttitudeControl: correct parameter markup 2017-06-05 21:02:30 +10:00
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
Dr.-Ing. Amilcar Do Carmo Lucas
188dfb6936 AC_AttitudeControl: Use SI units conventions in parameter units
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Randy Mackay
3a397584a1 AC_PosControl: z-axis stopping point up to 3m above vehicle
Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0 AC_PosControl: add clear_desired_velocity_ff_z method 2017-04-28 09:10:02 +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
Randy Mackay
132979b12f AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero 2017-03-15 09:22:23 +09:00
Randy Mackay
67097c8d59 AC_AttitudeControl: use gyro_latest
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
2017-03-03 13:14:28 +11:00
Randy Mackay
d79403707b AC_AttControl: add feed forward param descriptions
No functional change
2017-03-01 14:59:44 +09:00
Andrew Tridgell
e5ed20d6f7 AC_AttitudeControl: added set_throttle_mix_value()
used by quadplane
2017-02-26 09:20:51 +11:00
Jacob Walser
0e124d0be5 AC_PosControl: Add AC_PosControl_Sub class 2017-02-21 11:26:14 +11:00
Jacob Walser
925fa5d214 AC_AttitudeControl: Add AC_AttitudeControl_Sub class 2017-02-21 11:26:14 +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
Andrew Tridgell
5acbf5d16e AC_AttitudeControl: use FF from AC_PID 2017-02-18 17:26:43 +11:00
Randy Mackay
ff042528fe AC_PosControl: remove alt_max
AC_Avoidance enforces the altitude limit
2017-01-18 09:35:47 +09:00
Randy Mackay
127404acea AC_PosControl: add get_pos_z_kP accessor 2017-01-18 09:35:47 +09:00
Randy Mackay
189b766f2b AC_AttControl: remove redundant parameter set 2017-01-17 14:56:07 +09:00
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
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Pierre Kancir
421524951f AC_PosControl: remove unnecessary parentheses 2016-12-05 10:59:45 -08:00
murata
bcdd836820 AC_AttControl: remove unnecessary check of thr-mix-min
Checks directly above ensure this check can never be true
2016-12-01 13:52:04 +09:00