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39,983 Commits 71 Branches 509 Tags 715 MiB
Commit Graph

152 Commits

Author SHA1 Message Date
Leonard Hall f61a6c81fe AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 20:12:23 +09:00
Leonard Hall 2038a6a61b AC_AttitudeControl: Prevent loss of yaw control during large angle recovery. 2019-10-31 20:11:39 +09:00
Leonard Hall 0834726b48 AC_AttitudeControl: Support System ID tests 2019-10-16 08:17:09 +09:00
Peter Barker 8bb51f4b7d AC_AttitudeControl: adjust for new vehicle base class 2019-10-08 11:26:04 +11:00
Leonard Hall bbe33e38f3 AC_AttitudeControl: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Mark Whitehorn 732ed17f2f AC_AttitudeControl: bodyframe roll log target attitude bugfix 2019-04-23 09:15:55 +10:00
Leonard Hall 32cc642b2e AC_AttitudeControl: Formatting Changes 2019-04-20 09:31:56 +09:00
Leonard Hall e170beaf8c AC_AttitudeControl: reduce throttle mix for manual modes 2019-04-12 09:28:22 +09:00
Leonard Hall 6e76dff930 AC_AttitudeControl: remove unused set_throttle_out_unstabilized 2019-04-08 09:42:21 +09:00
Mark Whitehorn 55047324ac AC_AttitudeControl: add new tailsitter bodyframe roll option 2019-03-26 14:50:37 +11:00
Mark Whitehorn 4e9b6d1919 AC_AttitudeControl: improve tailsitter bodyframe roll control 2019-03-26 14:50:37 +11:00
Mark Whitehorn 1c52458d72 AC_AttitudeControl: use new method get_quat_body_to_ned() 2019-03-19 10:46:25 +11:00
Mark Whitehorn 20bbf99b28 AC_AttitudeControl: add body-frame yaw mode for tailsitters 2019-03-06 15:48:51 +11:00
Peter Barker 50d95943e3 AC_AttitudeControl: add pre-arm checks 2019-03-06 10:36:32 +09:00
Pierre Kancir 96e629d83e AC_AttitudeControl: pass vector by const reference 2018-12-22 08:31:32 +09:00
Leonard Hall 706ff85be7 AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max 2018-09-12 15:51:30 +09:00
Leonard Hall c53ba22daa AC_AttitudeControl: add new rate only attitude control 2018-03-16 13:50:57 +09:00
Leonard Hall 05418d3d29 AC_AttitudeControl: add EKF reset handling 2018-03-16 13:50:57 +09:00
Leonard Hall 8c45345863 AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller 
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
 2018-03-16 13:50:57 +09:00
Randy Mackay 59a2445ad3 AC_AttitudeControl: replace smoothing gain with INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall e1e224b68b AC_AttitudeControl: add angular velocity limit 2018-03-16 13:50:57 +09:00
Leonard Hall ee82943f85 AC_AttitudeControl: add input_shaping_rate_predictor 2018-03-16 13:50:57 +09:00
Leonard Hall 6175a896ee AC_AttitudeControl: add set smoothing gain 
Smoothing gain value should be set once when entering a mode
 2018-03-16 13:50:57 +09:00
Leonard Hall 213f7a4061 AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods 
Also constify existing get_accel_roll/pitch/yaw_max methods
 2018-03-16 13:50:57 +09:00
Leonard Hall 3ada0f32b0 AC_AttitudeControl: minor comment update 
Non-functional change
 2018-01-19 15:40:24 +09:00
Leonard Hall 75de0cb4ef AC_AttitudeControl: sqrt_controller accepts dt 2018-01-16 12:13:48 +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
Andrew Tridgell f2efea4e1d AC_AttitudeControl: added inverted flight support 
for helis
 2017-10-03 10:16:41 +11:00
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
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 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
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
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
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
Tom Pittenger 3adf8c3e51 AC_AttitudeControl: comment odd math in get_att_target_euler_cd 
degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f)  = 4 float multiplications
degree(vector3f) * 100.0f  = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f)  = 6 float multiplications and needs new degree(vector3f) function

These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
 2016-09-27 17:04:53 -07:00
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +09:00
Randy Mackay 535158e0d8 AC_AttControl: move var_info declaration 
No functional change
 2016-09-02 09:27:12 +09:00
Leonard Hall 50b694444b AC_AttControl: correct method comments 
No functional change
 2016-08-08 11:24:42 +09:00
Leonard Hall ac04fcd836 AC_AttControl: fix set_yaw_target_to_current_heading 2016-08-05 12:40:37 +09:00
Leonard Hall 011bc0a350 AC_AttControl: add reset_rate_controller_I_terms() 2016-08-05 12:40:37 +09:00
Randy Mackay d5c18dc987 AC_AttControl: remove unused 100hz definition 2016-08-01 17:21:04 +09:00
Leonard Hall 8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +09:00
Leonard Hall 117ae89505 AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec 2016-06-24 16:24:17 +09:00
Randy Mackay 558f29b95c AC_AttitudeControl: control mixing made protected 2016-06-18 11:55:49 +09:00
Leonard Hall 096bdd67f8 AC_AttitudeControl: add ATC_ANG_LIM_TC parameter 
This allow adjusting the reponse to limit lean angles to reduce altitude loss
 2016-06-18 11:55:49 +09:00