Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
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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
Jonathan Challinger
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
2016-10-14 10:46:01 +09:00
Jonathan Challinger
630e5378da
AC_PosControl: add get_horizontal_error
2016-07-12 18:40:25 +09:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
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No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Andrew Tridgell
d03a232659
AC_AttitudeControl: added set_limit_accel_xy() API
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for preventing integrator buildup
2016-04-10 22:01:18 +10:00
Randy Mackay
87399776a3
AC_PosControl: hover throttle default to 0.5
2016-04-01 11:59:30 +09:00
Lucas De Marchi
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Randy Mackay
dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
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No functional change as vehicle code always sets it explicitely
2015-11-18 13:31:20 +09:00
Randy Mackay
550ba478c9
AC_PosControl: add shift_pos_xy_target
2015-10-30 12:24:08 +09:00
Randy Mackay
16a0281c92
AC_PosControl: remove unused set_vel_target
2015-10-30 12:24:07 +09:00
Randy Mackay
ee0abb1750
AC_PosControl: add set_jerk_xy
2015-10-29 12:10:44 +09:00
Randy Mackay
73f4533995
AC_PosControl: minor comment update
2015-10-28 20:21:53 +09:00
Randy Mackay
895a40893d
AC_PosControl: use_desvel_ff flag added
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This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero. Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
2015-10-28 20:21:52 +09:00
Leonard Hall
aec66c5db6
AC_PosControl: faster z-axis slowdown when over speed
2015-10-28 20:21:38 +09:00
Leonard Hall
f55c31a157
AC_PosControl: add alt hold without feed forward
2015-10-28 17:57:20 +09:00
Leonard Hall
cf5db31053
AC_PosControl: allow limiting lean angle to avoid alt loss
2015-09-07 15:10:10 +09:00
Gustavo Jose de Sousa
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:41 +10:00
Robert Lefebvre
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
2015-07-14 20:16:58 +09:00
Randy Mackay
6ea60aa662
AC_PosControl: remove default from set_alt_target_from_climb_rate
2015-06-05 15:15:03 +09:00
Randy Mackay
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
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This function simply increments the current altitude target given a
climb rate and dt
2015-05-01 12:56:30 +09:00
Jonathan Challinger
738b1967ad
AC_PosControl: use LowPassFilterVector2f
2015-04-17 10:47:01 +09:00
Jonathan Challinger
8f667b3d1c
AC_PosControl: fix up comments
2015-04-17 10:46:59 +09:00
Leonard Hall
c2a6a0a9e2
AC_PosControl: add accel filter parameter
2015-04-16 21:00:45 +09:00
Leonard Hall
a632a57d79
AC_PosControl: accessors to log z-axis vel and accel
2015-04-16 21:00:32 +09:00
Leonard Hall
0aca3c4be6
AC_PosControl: add relax Alt Hold controllers
2015-04-16 21:00:25 +09:00
Leonard Hall
7cb3c4ba39
AC_PosControl: add feed forward to Alt Hold
2015-04-16 21:00:20 +09:00
Randy Mackay
a1e6a3ee32
AC_PosControl: minor format fix
2015-04-16 21:00:14 +09:00
Jonathan Challinger
3e0dab7b2d
AC_PosControl: remove accel error filter and set throttle output filter instead
2015-04-16 21:00:07 +09:00
Jonathan Challinger
127791127c
AC_PosControl: fix double literals
2015-03-24 06:29:04 -07:00
Randy Mackay
bb74b8dec8
AC_PosControl: fix twitch when entering RTL
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Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
2015-03-13 20:47:19 +09:00
Jonathan Challinger
88ec13b10d
AC_PosControl: fix build
2015-03-11 10:00:00 +09:00
Randy Mackay
965db2c7f7
AC_PosControl: add comments and defines for jerk limits
2015-03-10 22:10:34 +09:00
Jonathan Challinger
4408c1b935
AC_PosControl: 2d jerk constraint in accel_to_lean_angles
2015-03-10 22:10:32 +09:00
Jonathan Challinger
9871b95586
AC_PosControl: fix dt sanity checking
2015-03-10 22:10:30 +09:00
Leonard Hall
7de5bccc93
AC_PosControl: remove THR_HOVER parameter
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Parameter is set by main code so no need to store to eeprom
2015-03-06 14:02:46 +09:00
Leonard Hall
9866eaded1
AC_PosControl: rename p_alt_pos to p_pos_z
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Also pid_alt_accel to pid_accel_z
2015-03-06 14:02:44 +09:00
Leonard Hall
349f1aeceb
AC_PosControl: use 2-axis PI controller
2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c
AC_PosControl: integrate PID input filter
2015-03-06 14:02:39 +09:00
Randy Mackay
186337f18e
AC_PosControl: rename xy_mode enum values
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Also added a few comments and fixed formatting
2015-02-06 17:00:55 +09:00
Jonathan Challinger
3faca88423
AC_PosControl: allow control of xy rate constraint behavior
2015-02-06 17:00:48 +09:00
Robert Lefebvre
14d76d158a
AC_AttitudeControl: Correct comment.
2015-02-03 14:55:30 +09:00
Randy Mackay
07a0388f25
AC_PosControl: move alt limit to set_alt_target_from_climb_rate
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The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
2015-01-30 14:13:52 +09:00
Randy Mackay
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
2015-01-07 14:03:49 +09:00
Randy Mackay
c36253b9b2
AC_PosControl: add comments
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No functional change
2014-12-31 14:03:22 +09:00
Jonathan Challinger
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
2014-12-31 14:03:18 +09:00
Jonathan Challinger
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
2014-12-31 14:03:13 +09:00
priseborough
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
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Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
2014-12-06 18:16:51 +11:00
priseborough
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
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Allows gains to be adjusted to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
Randy Mackay
d34ea4c124
AC_PosControl: fix to default force_descend param
2014-11-13 18:40:45 -08:00
Jonathan Challinger
e81c1dd5a1
AC_PosControl: add force_descend option to set_alt_target_from_climb_rate
2014-11-13 18:40:38 -08:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
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Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
2014-08-05 09:11:57 +09:00
Randy Mackay
e550c1e9a3
AC_PosControl: add set_alt_target_to_current_alt method
2014-08-04 16:54:04 +09:00
Randy Mackay
82ed70b25e
AC_PosControl: add xyz velocity controller
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Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward). These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
2014-07-06 17:01:02 +09:00
Randy Mackay
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
2014-06-10 20:02:46 +09:00
lthall
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
2014-06-10 20:02:36 +09:00
lthall
0d87298221
AC_PosControl: freeze feed forward and vector fixes
2014-06-10 20:02:33 +09:00
Randy Mackay
2b0f142a17
AC_PosControl: fix typo in D-filter definition
2014-05-29 17:50:48 +09:00
Randy Mackay
29ca7a10df
AC_PosControl: set alt hold accel control D term filter
2014-05-29 17:40:23 +09:00
Randy Mackay
c13db680b7
AC_PosControl: remove reset_I_xy
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lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
2014-05-08 16:15:48 +09:00
Randy Mackay
cd8b1f278c
AC_PosControl: remove unused _cos_yaw variable
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Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
2014-05-08 16:15:46 +09:00
Randy Mackay
0819e05896
AC_PosControl: lean_angles_to_accel added for smooth initialisation
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init_xy_controller also added to capture initialisation all in one place
2014-05-08 16:15:41 +09:00
Randy Mackay
a1f1dd8059
AC_PosControl: add is_active_z method
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Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
2014-05-08 16:15:22 +09:00
Randy Mackay
937e9ea687
AC_PosControl: add set_target_to_stopping_point_xy method
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Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
2014-04-30 21:46:20 +09:00
Randy Mackay
9f63de9b59
AC_PosControl: set_speed_z accepts positive descent speeds
2014-04-30 21:46:09 +09:00
Randy Mackay
098f8169b0
AC_PosControl: add keep_xy_I_terms method
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Stops horizontal PID's I terms from being reset when the controller is
next updated
2014-04-23 15:00:12 +09:00
Ju1ien
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
2014-04-23 14:59:49 +09:00
Randy Mackay
9c6995d8bb
AC_PosControl: add get_accel_z method
2014-04-22 23:05:08 +09:00
Randy Mackay
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
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Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
2014-04-21 21:36:02 +09:00
Randy Mackay
7e376bc517
PosControl: update_pos_controller renamed to update_xy_controller
2014-04-21 13:31:55 +09:00
Randy Mackay
02775e8dc5
AC_PosControl: get_accel_target returns const ref
2014-04-14 11:34:14 +09:00
Randy Mackay
dd45647626
AC_PosControl: update some comments re leash lengths
2014-03-17 10:13:02 +09:00
Randy Mackay
9130c88f15
AC_PosControl: throttle rate to simple P controller
2014-02-16 13:35:44 +11:00
Randy Mackay
94fb9c4274
AC_PosControl: replace APM_PI with AC_P
2014-02-15 06:09:08 +11:00
Randy Mackay
78c12eaebf
AC_PosControl: get_pos_xy_kP accessor method
2014-02-15 05:27:50 +11:00
Randy Mackay
8b8d6a8e01
AC_PosControl: use trig values from ahrs
2014-02-15 05:27:48 +11:00
Randy Mackay
551836c49d
AC_PosControl: make some methods const
2014-02-15 05:27:40 +11:00
Randy Mackay
26b257c8ba
AC_AttControl: alternative get_stopping_point_z
2014-02-15 05:27:39 +11:00
Randy Mackay
171203370f
AC_PosControl: add accessor for speed_up and down
2014-02-15 05:27:37 +11:00
Randy Mackay
de34359808
AC_PosControl: recalculate leash when speed or accel modified
2014-02-15 05:27:37 +11:00
Randy Mackay
bbcf8cc84c
AC_PosControl: add horizontal pos control
2014-02-15 05:27:35 +11:00
Randy Mackay
3ce1c0a9d5
AC_PosControl: add get_alt_error method
2014-02-15 05:27:34 +11:00
Randy Mackay
8988b48ad8
AC_PosControl: add init take-off
2014-02-15 05:27:34 +11:00
Randy Mackay
dcac124105
AC_PosControl: add throttle controller
2014-02-15 05:27:33 +11:00
Randy Mackay
05bb943a69
AC_AttControl: first draft of PosControl class
2014-02-15 05:27:33 +11:00