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
Peter Barker
eb1fc3107c
AC_PosControl: log PSC data in metres in place of centimetres
2019-03-26 10:18:05 +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
Randy Mackay
8710526894
AC_PosControl: constify dt calcs
2019-01-30 15:58:34 +09:00
Randy Mackay
b14be4e8ae
AC_PosControl: increase accuracy of dt calcs
2019-01-30 15:58:34 +09:00
Peter Barker
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Pierre Kancir
96e629d83e
AC_AttitudeControl: pass vector by const reference
2018-12-22 08:31:32 +09:00
Leonard Hall
8d572e8565
AC_AttitudeControl: Fix Autotune high hover throttle based limits
2018-12-21 22:17:52 +11:00
Randy Mackay
ba3303dc61
AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target
...
This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
2018-11-26 09:30:32 +09:00
Peter Barker
7e3ca19308
AC_AttitudeControl: add override keyword in many places
2018-11-08 11:30:12 +11:00
murata
6db54bd65e
AC_AttitudeControl: Change from sqrt to safe_sqrt
2018-11-03 15:23:15 +09:00
Peter Barker
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
...
The result of this won't be used as often as this loop is called
2018-10-30 09:00:23 +09:00
Michael du Breuil
5846a54c17
AC_AttitudeControl: Fix copy paste param doc error
2018-10-25 09:50:00 +11:00
Peter Barker
04e4484d96
AC_AttitudeControl: correct old and misleading comments
2018-10-23 09:40:21 +11:00
Leonard Hall
96a8bcf641
AC_AttitudeControl: limit gyro correction to 45 degrees error
2018-10-16 00:44:50 +09:00
Leonard Hall
acaefe9316
AC_AttitudeControl: remove output limits
2018-10-16 00:44:50 +09:00
Peter Barker
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
2018-10-09 10:47:38 +11:00
Michael du Breuil
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
2018-09-20 15:15:45 -07:00
Leonard Hall
34c0656675
AC_AttitudeControl: Add missing variable initalisations
2018-09-15 11:00:29 +10:00
Michael du Breuil
eb1f3b205f
AC_AttitudeControl: Use reset_rate_controller_I_terms() helper
2018-09-14 12:16:58 +09:00
Leonard Hall
b15b5516cb
AC_PosControl: Fix divide by zero check in limit_vector_length
2018-09-12 15:51:30 +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
5863b84c35
AC_PosControl: reduce glitch on init
2018-09-04 13:37:28 +09:00
Andrew Tridgell
9766c4ed26
AC_AttitudeControl: fixed use of double precision maths
2018-05-07 11:43:23 +10:00
Jacob Walser
6ae1bf4cf4
AC_AttitudeControl: Allow zero gains for Sub
...
Close bluerobotics/ardusub#70
2018-04-25 17:18:26 +09:00
Michael du Breuil
334ff0fb66
AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway
2018-03-31 13:40:52 +09:00
Randy Mackay
33f437a72c
AC_AttitudeControl: use multiply instead of divide
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
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
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
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
Leonard Hall
dadc6a63c4
AC_PosControl: add set_leash_length_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
e5bc2b26fe
AC_PosControl: add lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
0f3645b061
AC_PosControl: increase velocity gains
2018-03-16 13:50:57 +09:00
Leonard Hall
7ec043502f
AC_PosControl: add accel limit to xy controller
2018-03-16 13:50:57 +09:00
Leonard Hall
bd13704f6f
AC_PosControl: update init for guided
2018-03-16 13:50:57 +09:00
Leonard Hall
85b7f06554
AC_PosControl: combine z position control into single method
2018-03-16 13:50:57 +09:00
Leonard Hall
993e638752
AC_PosControl: combine xy position control into single method
...
Also always limit lean angle to maintain altitude
2018-03-16 13:50:57 +09:00
Leonard Hall
74bb7616a7
AC_PosControl: add accel feedforward
...
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
2018-03-16 13:50:57 +09:00
Randy Mackay
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
2018-03-16 13:50:57 +09:00
Randy Mackay
b3de52dc59
AC_AttitudeControl: minor comment fix
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
Leonard Hall
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
...
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
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
Randy Mackay
3badcdcfba
AC_PosControl: default gains for sub
2018-01-31 08:48:21 +09:00
Randy Mackay
61933c6f1c
AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ
2018-01-31 08:48:21 +09:00
Leonard Hall
692e6518cc
AC_AttitudeControl: update param desc values for large copters
2018-01-27 11:54:04 +09:00
Leonard Hall
691abab95e
AC_AttitudeControl: Update parameter ranges
2018-01-27 11:38:09 +09:00
Randy Mackay
9c00eb3d5f
AC_PosControl_Sub: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
c70d3e0ab8
AC_PosControl: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
00037fd50e
AC_PosControl_Sub: replace velocity pi with local pid
2018-01-23 12:00:43 +09:00
Randy Mackay
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
2018-01-23 12:00:43 +09:00
Leonard Hall
e249e06714
AC_PosControl: minor enhancement to lean_angles_to_accel
2018-01-20 09:49:58 +09:00
Leonard Hall
d5976442f8
AC_PosControl: minor comment change
...
non-functional change
2018-01-19 15:40:32 +09:00
Leonard Hall
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
2018-01-19 15:40:24 +09:00
Leonard Hall
b9ed8b292a
AC_PosControl: pass dt to att control sqrt_controller
2018-01-16 12:13:48 +09:00
Leonard Hall
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
2018-01-16 12:13:48 +09:00
Leonard Hall
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
2018-01-16 12:13:48 +09:00
Leonard Hall
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
2018-01-12 15:20:47 +09:00
Leonard Hall
3e0c24adf9
AC_PosControl: remove out-of-date comments
2018-01-11 21:18:34 +09:00
ChristopherOlson
569f55f5c6
AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters
...
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
2017-12-14 20:46:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
2017-12-05 09:17:15 +09:00
Leonard Hall
bd284d9fd7
AC_PosControl: correct lean-angle-to-accel formula
...
Thanks to @luweikxy for finding this issue!
2017-11-24 09:12:00 +09:00
Leonard Hall
ebd864d2d2
AC_PosControl: minor update to comments
2017-11-16 09:46:28 +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
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
2017-10-23 09:20:17 -07:00
Andrew Tridgell
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
2017-10-03 10:16:41 +11:00
Andrew Tridgell
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
...
this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
Andrew Tridgell
1a25087dd5
AC_AttitudeControl: fixed PIRO_COMP index
...
this is a new conflict due to stricter checking in AP_Param
2017-08-14 09:28:57 +09:00
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
Peter Barker
d56eca036d
AC_AttitudeControl: correct parameter markup
2017-06-05 21:02:30 +10:00
Leonard Hall
ad74769fb7
AC_AttControl: adjust default rate IMAX and Yaw Filt
...
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
2017-06-01 10:08:41 +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
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
...
Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +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
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
2017-03-15 09:22:23 +09:00
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
Randy Mackay
d79403707b
AC_AttControl: add feed forward param descriptions
...
No functional change
2017-03-01 14:59:44 +09:00
Andrew Tridgell
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
2017-02-26 09:20:51 +11:00
Jacob Walser
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
2017-02-21 11:26:14 +11:00
Jacob Walser
925fa5d214
AC_AttitudeControl: Add AC_AttitudeControl_Sub class
2017-02-21 11:26:14 +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
Andrew Tridgell
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
2017-02-18 17:26:43 +11:00
Randy Mackay
ff042528fe
AC_PosControl: remove alt_max
...
AC_Avoidance enforces the altitude limit
2017-01-18 09:35:47 +09:00
Randy Mackay
127404acea
AC_PosControl: add get_pos_z_kP accessor
2017-01-18 09:35:47 +09:00
Randy Mackay
189b766f2b
AC_AttControl: remove redundant parameter set
2017-01-17 14:56:07 +09:00
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