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32,307 Commits 71 Branches 511 Tags 832 MiB
84b1a6a58b
Commit Graph

186 Commits

Author SHA1 Message Date
Michael du Breuil
84b1a6a58b APM_Control: Supress some compilier warnings about strncpy 2018-05-29 00:10:40 +01:00
Randy Mackay
a7fbfe7767 AR_AttitudeControl: caller provides dt instead of calculated internally 
This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
 2018-05-24 11:06:20 +09:00
Randy Mackay
c032095c80 AR_AttitudeControl: reduce default accel max to 2m/s/s 2018-05-24 11:06:20 +09:00
Randy Mackay
856d592b1d AR_AttitudeControl: accel limit stops 2018-05-24 11:06:20 +09:00
Ammarf
832778e471 AR_AttitudeControl: add separate decel limit 2018-05-23 17:17:29 +09:00
Randy Mackay
f6c06496e2 AR_AttitudeControl: fix accel limiting 2018-05-21 10:28:56 +09:00
Ammarf
a9ee949c32 AR_AttitudeControl: limit desired steering rate 2018-05-21 09:48:43 +09:00
Randy Mackay
56672c1c28 AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration 2018-05-10 20:37:28 +09:00
Randy Mackay
9feaf9cfdd AR_AttitudeControl: const some internal variables 
non-functional change
 2018-05-10 20:37:28 +09:00
Randy Mackay
fa76a7c904 AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds 2018-05-10 08:02:13 +09:00
Randy Mackay
5563691bd1 AR_AttitudeControl: assume positive steering output rotates vehicle clockwise 
also remove steering scaling by speed which has been moved to AR_MotorsUGV
 2018-05-10 08:02:13 +09:00
Randy Mackay
ce44326ba8 AR_AttitudeControl: fix get_steering_out_heading while reversing 2018-05-06 16:58:00 +09:00
Randy Mackay
0f9b679e98 AR_AttitudeControl: increase angle err P and reduce steering accel max defaults 2018-04-26 14:16:22 +09:00
Randy Mackay
3f1f68b130 AR_AttitudeControl: support vectored thrust 
steering output is not scaled for speed
steering integrator does not build up at low speed
 2018-04-24 19:57:19 +09:00
Randy Mackay
9c2da896b9 AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero 
this reduces the final jerk to a when transitioning from forward to reverse and in cases where ATC_ACCEL_MAX is small
 2018-04-24 12:24:53 +09:00
Randy Mackay
365e1030db AR_AttitudeControl: separate speed limiting to new method 
This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run.
This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers
 2018-04-24 12:24:53 +09:00
Randy Mackay
23ed735304 AR_AttitudeControl: reduce default steering I gain to 0.2 
Also reduce default filter from 50hz to 10hz
 2018-04-19 16:29:12 +09:00
Daniel Widmann
27234f78c6 AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS 2018-04-13 09:12:03 +09:00
Randy Mackay
a8857726d1 AR_AttitudeControl: replace get_steering_out_angle_error with heading 
internally uses AHRS's heading to determine angle error so overally a non-functional change
 2018-04-05 12:14:59 +09:00
Randy Mackay
e6f8021519 AR_AttitudeControl: add angular accel and rate limits 
This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
 2018-04-05 12:14:59 +09:00
Randy Mackay
57f2eb6853 AR_AttitudeControl: minor comment fix 2018-03-31 14:47:30 +09:00
Peter Barker
e2de9d62cd APM_Control: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
89725a7aa5 AR_AttitudeControl: minor comment fix 
non-functional change
 2018-03-15 09:58:27 +09:00
Randy Mackay
d139f0e28e AR_AttitudeControl: add get_stopping_distance 2018-03-14 12:40:04 +09:00
Randy Mackay
54d8a4852f AR_AttitudeControl: reduce steer rate P default to 0.2 2018-03-09 13:17:38 +09:00
Randy Mackay
2aeda48512 AR_AttitudeControl: minor arg name fix 
non-functional change
 2018-02-09 17:36:21 +09:00
Randy Mackay
5e90cdbf59 AR_AttitudeControl: parameter desc range increase 
new steering controller can use higher FF and zero P
 2018-01-12 08:15:34 +09:00
Randy Mackay
1bb18bc941 AR_AttitudeControl: get_throttle_out_speed uses timeout definition 2018-01-05 13:33:21 +09:00
Randy Mackay
4ac5ef3a13 AR_AttitudeControl: allow filter to be zero 
Also increase default filter to 50hz
 2018-01-05 13:33:21 +09:00
Randy Mackay
16d3e5c00d AR_AttitudeControl: add feed foward for speed and steering rate control 2018-01-05 13:33:21 +09:00
Randy Mackay
40bb2b0ad9 AR_AttitudeControl: set throttle speed pid dt 2018-01-05 13:33:21 +09:00
Randy Mackay
9930550cfc AR_AttitudeControl: lengthen timeout to 200ms 
This is required because occasionally the turn rate controller can be disabled for just over 100ms as new navigation commands are loaded
 2018-01-05 13:33:21 +09:00
Randy Mackay
a2b1807ca0 AR_AttitudeControl: fix turn-rate controller timeout 2018-01-05 13:33:21 +09:00
Peter Barker
e0c586876b APM_Control: use GPS singleton 2017-12-27 00:58:02 +00:00
Andrew Tridgell
1dac512567 APM_Control: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Randy Mackay
cabced82f1 AR_AttitudeControl: fix parameter descriptions 2017-12-11 17:01:18 +09:00
Michael Oborne
78f732c380 AR_AttitudeControl: fix parameter docs 2017-12-11 08:35:33 +09:00
Randy Mackay
744f4baf22 AR_AttitudeControl: add parameter description increment 2017-12-09 16:23:25 +09:00
Randy Mackay
f00f4ce79b AR_AttitudeControl: fix get_desired_speed timeout 2017-12-09 16:23:22 +09:00
Randy Mackay
36c5f057ae AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed 
for reporting use only
 2017-12-09 12:18:49 +09:00
Grant Morphett
f7db538220 APM_Control: Fixed the subparam indexs to start at 1 
AFAIK there is still a bug in ArduPilot where subparams should not start at index 0.  This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total.  So params, sub params and sub sub params.  The 0 parameter in all those is unfortunately always references param[0].  So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value.  Its why we always say start the index from 1 as the math and bitshifting then works correctly.

Yeah this is worded badly - hard to explain.
 2017-11-29 09:43:10 +09:00
Randy Mackay
b9a1621d38 AR_AttitudeControl: minor comment fix 
non-functional change
 2017-11-27 10:35:26 +09:00
khancyr
2a25011b14 AR_AttitudeControl: const local variables 2017-11-09 09:53:12 +09:00
khancyr
76a6649a2d AP_Autotune: remove unimplemented function 2017-11-08 17:21:56 +09:00
khancyr
e9e1dac188 AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out 2017-11-08 15:45:35 +09:00
khancyr
aa09541847 AR_AttitudeControl: const ahrs reference 2017-11-08 15:34:41 +09:00
khancyr
d226ffeeb2 AP_AttitudeControl: remove tabs 
non-functional change
 2017-11-08 15:06:25 +09:00
Daniel Widmann
49887235df AR_AttitudeControl: get_steering_out methods accept reverse argument 2017-11-08 14:36:23 +09:00
Randy Mackay
ce73d724c8 AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds 2017-10-26 19:45:04 +09:00
Randy Mackay
ee3daaa7c9 AR_AttitudeControl: reset input filter for steering and throttle controllers 
Also only set dt to non-zero value
 2017-10-26 19:44:54 +09:00