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48 Commits

Author SHA1 Message Date
Leonard Hall f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Leonard Hall 48a99df2b3 Sub: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 266bd22df3 Sub: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Willian Galvani 7fa8a455d7 Sub: refactor depth control of control_althold to a function 2020-08-03 20:19:28 -07:00
Willian Galvani 4b16271b3d Sub: Remove rangefinder support of control loops 
The rangefinder handling doesn't handle sonar glitches like
locking on to reflections very well. We will remove the
rangefinder as an input to the controllers until we can do a
more robust implementation.
 2019-06-05 11:54:45 -04:00
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
Patrick José Pereira d2052cdd35 Sub: Use new reset_i in relax_alt_hold_controllers 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 13:37:18 -04:00
Patrick José Pereira 33768cd79c Sub: Fix overshoot from joystick input 
This approach waits for a zero derivative point and to set the new actual position
Such method is necessary since the inertia of the ROV underwater is bigger than aerial vehicles
resulting in a big overshoot

Fix #9797

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 13:37:18 -04:00
Peter Barker 285fe4c79c Sub: explicitly type constant 
This makes clang happier
 2019-02-20 19:23:54 +11:00
Randy Mackay 8ba87171e6 Sub: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Michael du Breuil 27fad4489e Sub: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Patrick José Pereira 90601c80e9 Sub: Simplify some returns 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-29 15:51:30 -04:00
Patrick José Pereira d3da8f2914 Sub: Add attitude control with althold via mavlink 
Allow ordinary attitude positions without a gps system

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-12 17:27:56 -04:00
Patrick José Pereira e62b560095 Sub: Move SITL barometer check to control_check_barometer 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-05-07 17:28:51 -04:00
Patrick José Pereira 0878f5044c Sub: Send a clear message if depth sensor is not connected 
Fix bluerobotics/ardusub#151

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-04-19 07:45:00 -07:00
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
Peter Barker 279072cf25 Sub: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Jacob Walser 131e1bdef5 Sub: Bugfix for external baro failsafe handling when no baro is 
connected at boot
 2017-05-03 18:13:31 -04:00
Jacob Walser c093e1c37e Sub: Add failsafe mechanisms for depth sensor error 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 c16046aadf Sub: Remove unused motor emergency stop and interlock 2017-04-14 13:26:37 -04:00
Jacob Walser 6886952438 Sub: Remove simple mode 2017-03-22 23:39:37 -04:00
Jacob Walser 4233ebd005 Sub: Improve depth hold behavior 2017-03-22 15:53:38 -04:00
Jacob Walser 8a24b074f7 Sub: Disable external baro check for SITL 2017-03-07 09:35:41 +11:00
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 a3565c90b5 Sub: Apply deadzone by using norm_input_dz instead of norm_input 2017-02-21 11:26:14 +11:00
Jacob Walser a217b4c684 Sub: lock out depth hold mode if no external sensor is present 2017-02-21 11:26:14 +11:00
Rustom Jehangir 26d0a922c1 Sub: Changes to match recent Copter updates. 2017-02-21 11:26:14 +11:00
Rustom Jehangir cc00feac29 Sub: Repair motor outputs for ROVs for +/-1.0 range 2017-02-21 11:26:14 +11:00
Rustom Jehangir 837f429bf0 Sub: Refactor 'strafe' to 'lateral' 2017-02-21 11:26:14 +11:00
Rustom Jehangir 684bc249b6 Sub: Update to match upstream, part 1 2017-02-21 11:26:14 +11:00
Rustom Jehangir 5ee68aee42 Sub: Fix compile error in control_althold 2017-02-21 11:26:14 +11:00
jaxxzer 0c73ad5f4b Sub: Fix units for surface depth 2017-02-21 11:26:14 +11:00
jaxxzer fa4adee7a0 Sub: fix surface units for alt_hold 2017-02-21 11:26:14 +11:00
jaxxzer 8cd41d305d Sub: Make surface_depth a parameter 2017-02-21 11:26:14 +11:00
jaxxzer 00e1c847a6 Sub: top and bottom detection working well 
althold makes good use of the information and will refuse to attempt to
fly out of the water or dig underground
 2017-02-21 11:26:14 +11:00
jaxxzer 48983c38f8 Sub: Top and bottom detection working for alt hold 2017-02-21 11:26:14 +11:00
jaxxzer b6a0237a63 Sub: Add surface and bottom detection capabilities 2017-02-21 11:26:14 +11:00
Rustom Jehangir 6cf24c2770 Sub: Remove heli support from sub. 2017-02-21 11:26:14 +11:00
jaxxzer a299528194 Sub: Some more tweaks for water pressure. Change throttle_zero to mid stick. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 83ff3931b8 Sub: Refactor "Copter" to "Sub". 2017-02-21 11:26:14 +11:00
jaxxzer 2f3aff7499 Sub: Update forward and strafe rc channels in the control mode files. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 3da7c95e9b Sub: New vehicle type, derived from ArduCopter. 2017-02-21 11:26:14 +11:00