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128 Commits

Author SHA1 Message Date
Leonard Hall 0544cf1d82 AC_AttControl: add step input for autotune 2017-06-22 15:18:04 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 188dfb6936 AC_AttitudeControl: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +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 5acbf5d16e AC_AttitudeControl: use FF from AC_PID 2017-02-18 17:26:43 +11:00
Leonard Hall ea0e413b04 AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero 2016-11-23 14:43:29 +09:00
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
Leonard Hall 29d4790fc7 AC_AttControl: reduce max_rate_step based on hover throttle 
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
 2016-08-12 22:29:53 +09:00
Leonard Hall 011bc0a350 AC_AttControl: add reset_rate_controller_I_terms() 2016-08-05 12:40:37 +09:00
Leonard Hall 80bda572ba AC_AttutudeControl: Yaw shift fix 2016-06-24 18:15:48 +09:00
Leonard Hall 8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +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
Randy Mackay dafc45eb26 AC_AttitudeControl: move get_althold_lean_angle_max to parent class 2016-06-18 11:55:49 +09:00
Leonard Hall 3d27ecca92 AC_AttitudeControl: add TC for Alt_Hold angle limit 2016-06-18 11:55:49 +09:00
Randy Mackay 7ff0fcb25d AC_AttitudeControl: multicopter specific rate_controller_run 2016-06-18 11:55:49 +09:00
Randy Mackay b7431b7d0c AC_AttitudeControl: update throttle rpy mix on every iteration 2016-06-18 11:55:49 +09:00
Leonard Hall 35ef761deb AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli 2016-06-18 11:55:49 +09:00
Andrew Tridgell 6330060e49 AC_AttitudeControl: added monitoring of controller error 
use RMS P+I+FF output. Thanks to Leonard for the suggestion
 2016-05-28 17:33:30 +10:00
Randy Mackay 4a06ca4be2 AC_AttControl: remove unused call to motors.set_stabilizing 
Also minor change to order of a call to motors library to make stabilizing
and non-stabilizing calls consistent.

Non functional change
 2016-05-07 10:08:38 +09:00
Leonard Hall b30606bb22 AC_AttControl: remove scaling for centi-degrees and legacy motor input 2016-04-01 11:59:30 +09:00
Randy Mackay 17c9db08f3 AC_AttControl: add angle and rate PIDs 2016-04-01 11:59:30 +09:00
Leonard Hall 979534279a AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 2822b93cd4 AC_AttControl: add get_throttle_in accessor 
Used for logging only
 2016-04-01 11:59:30 +09:00
Leonard Hall c0f209fa42 AC_AttControl: angle_boost to float 2016-04-01 11:59:30 +09:00
Jonathan Challinger e946e047e6 AC_AttitudeControl: add attitude_controller_run functions, call from input functions 2016-03-02 20:16:18 +09:00
Randy Mackay 5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Randy Mackay 86bb03aa79 AC_AttControl: use ahrs get_rotation_body_to_ned 
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
 2015-12-23 11:38:21 +09:00
Jonathan Challinger 46e6ff3ca9 AC_AttitudeControl: modify comment on kinematic correction feedforward 2015-12-23 11:38:19 +09:00
Jonathan Challinger 829d6037fc AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude 2015-12-23 11:38:16 +09:00
Jonathan Challinger ae3357baee AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame 2015-12-23 11:38:14 +09:00
Jonathan Challinger 3d4bd92b48 AC_AttitudeControl: add helper functions to retrieve rotation matrices 2015-12-23 11:38:12 +09:00
Jonathan Challinger ee8090e25f AC_AttitudeControl: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Randy Mackay 02eda4dcab AC_AttControl: remove comment, fix formatting 2015-12-09 20:04:32 +09:00
Jonathan Challinger 3a06edcee3 AC_AttitudeControl: rename local variable to match naming convention 2015-12-09 19:58:46 +09:00
Jonathan Challinger 846ee7d2af AC_AttitudeControl: fix regression in angular velocity controller 2015-12-09 19:58:45 +09:00
Jonathan Challinger b8223771d3 AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits 2015-12-09 19:58:44 +09:00
Jonathan Challinger 162d2a9112 AC_AttitudeControl: naming changes in response to Leonard's review 2015-12-09 19:58:42 +09:00
Jonathan Challinger 0baf86c485 AC_AttitudeControl: fixup more names 2015-12-09 19:58:39 +09:00
Jonathan Challinger 41e580e53a AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO 2015-12-09 19:58:38 +09:00
Jonathan Challinger 5919e95635 AC_AttitudeControl: add input_ prefix to input shaper functions 2015-12-09 19:58:36 +09:00
Jonathan Challinger bba360ea2b AC_AttitudeControl: correct bugs found in review 2015-12-09 19:58:35 +09:00
Jonathan Challinger f8c709478a AC_AttitudeControl: quaternion acro controller 2015-12-09 19:58:33 +09:00
Jonathan Challinger 8b886bc479 AC_AttitudeControl: minor comment changes and reorganization 2015-12-09 19:58:32 +09:00
Jonathan Challinger edda7e4e1e AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw 2015-12-09 19:58:31 +09:00
Jonathan Challinger 1afab89991 AC_AttitudeControl: extensive renaming and recommenting 2015-12-09 19:58:29 +09:00
Jonathan Challinger 06c8457efd AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions 2015-12-09 19:58:27 +09:00
Jonathan Challinger 7330de86e5 AC_AttitudeControl: change internals to use radians instead of centidegrees 2015-12-09 19:58:26 +09:00
Andrew Tridgell 58f0abaf4c AC_AttitudeControl: fixed one usage of zero accel limits 
in other places zero accel limit means no limit
 2015-12-07 13:43:14 +09:00
Randy Mackay 4b41710261 AC_AttControl: minor comment fix 2015-11-18 13:31:18 +09:00
Robert Lefebvre 0b33ef3862 AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters. 2015-11-12 19:37:26 +09:00
Jonathan Challinger 6784fd8625 AC_AttitudeControl: reserve parameter IDs 2015-11-10 12:56:52 +09:00