Peter Barker
3190974e4f
DataFlash: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
55b8a2288e
AP_NavEKF3: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
40957ec430
AP_NavEKF2: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
9f556197a0
AP_Mount: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
f0d06e7a9c
AP_Arming: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
1dabcc473d
AP_AHRS: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
2749ee9060
Copter: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
7cc808543f
AC_Precland: use ins singleton
2018-03-16 00:37:35 -07:00
Randy Mackay
feecbe442f
Copter: use multiply instead of divide in param conversion
2018-03-16 13:50:57 +09:00
Randy Mackay
d0e6c4d08d
AC_WPNav: correct LOIT_MAXA param description
2018-03-16 13:50:57 +09:00
Randy Mackay
33f437a72c
AC_AttitudeControl: use multiply instead of divide
2018-03-16 13:50:57 +09:00
Randy Mackay
548a7f8fcf
Plane: add minor comment to quadplane
2018-03-16 13:50:57 +09:00
Leonard Hall
ee745d2cd2
Plane: quad plane uses rate-control control during transitions
2018-03-16 13:50:57 +09:00
Leonard Hall
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
2018-03-16 13:50:57 +09:00
Leonard Hall
a16d4ddad7
Plane: quadplane uses poscontrol instead of loiter
2018-03-16 13:50:57 +09:00
Randy Mackay
d43341c532
Sub: run guided velocity control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
d7ea8f073f
Copter: run guided velocity control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
21abe1194e
AC_WPNav: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
e9c23b538e
AC_Circle: run horizontal position control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
9e0a57eec7
DataFlash: minor formatting fixes
...
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
c857f8332b
Sub: replace NTUN with PSC logging
2018-03-16 13:50:57 +09:00
Randy Mackay
4a74b1b5e5
Copter: replace NTUN with PSC logging
2018-03-16 13:50:57 +09:00
Randy Mackay
13007e2a07
AC_PosControl: dataflash logging of PSC message
2018-03-16 13:50:57 +09:00
Randy Mackay
c5d838125b
Plane: quadplane logs PSC message
2018-03-16 13:50:57 +09:00
Randy Mackay
5be1020578
AC_WPNav: use multiply instead of divide
...
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
69cfea4057
AC_PosControl: use float for local consts
2018-03-16 13:50:57 +09:00
Randy Mackay
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
2018-03-16 13:50:57 +09:00
Randy Mackay
0392d2752d
Copter: tuning rc-feel uses multiply instead of divide
2018-03-16 13:50:57 +09:00
Randy Mackay
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
2018-03-16 13:50:57 +09:00
Randy Mackay
1035645f5c
Copter: poshold always resets loiter I term
2018-03-16 13:50:57 +09:00
Randy Mackay
09cad7c59d
Plane: quadplane integrates attitude control inertial_frame_reset
2018-03-16 13:50:57 +09:00
Randy Mackay
03c162432e
Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration
2018-03-16 13:50:57 +09:00
Randy Mackay
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
...
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
2018-03-16 13:50:57 +09:00
Randy Mackay
01d1d41302
Sub: integrate attitude control inertial_frame_reset
2018-03-16 13:50:57 +09:00
Randy Mackay
2154d08185
Sub: remove setting of pos-con jerk
2018-03-16 13:50:57 +09:00
Randy Mackay
2697e19513
Sub: guided removes xy mode from calls to pos-con
...
Also always limit angle to maintain altitude
2018-03-16 13:50:57 +09:00
Randy Mackay
da17034a3d
Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
Leonard Hall
a727305a59
Copter: integrate attitude control EKF inertial-frame-reset
2018-03-16 13:50:57 +09:00
Randy Mackay
f368ff6664
Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC
2018-03-16 13:50:57 +09:00
Leonard Hall
8ac653cabf
Copter: AutoTune integrate renamed use_sqrt_controller
2018-03-16 13:50:57 +09:00
Randy Mackay
853d7ab573
Copter: remove setting of pos-con jerk
2018-03-16 13:50:57 +09:00
Leonard Hall
7511781a7e
Copter: add accel target to NTUN log msg
...
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
2018-03-16 13:50:57 +09:00
Leonard Hall
f9acc8a666
Copter: guided removes xy mode in calls to pos-con
...
Also limit angle to hold altitude
2018-03-16 13:50:57 +09:00
Randy Mackay
1a0be015f9
Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration
...
Also fix accelerations/lean-angles for land and rtl-land
2018-03-16 13:50:57 +09:00
Leonard Hall
93de23e7c4
Copter: get-pilot-desired-lean-angles accepts another angle-max
2018-03-16 13:50:57 +09:00
Leonard Hall
1540f98888
Copter: add angle inputs to Loiter
2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
Leonard Hall
a356cfa529
AC_Circle: init resets desired velocity_xy
2018-03-16 13:50:57 +09:00
