Leonard Hall
8223d664a7
AC_AttitudeControl: AC_PosControl: Non functional clean up
2021-08-26 12:22:52 +09:00
Leonard Hall
9c097dd6be
AC_AttitudeControl: AC_PosControl: limit initial acceleration
2021-08-26 12:22:52 +09:00
Leonard Hall
445e52b821
AC_AttitudeControl: AC_PosControl: fix stopping point initialization
2021-08-26 12:22:52 +09:00
Iampete1
2a834508ae
AC_AttitudeControl: check for zero rate Y max before taking min
2021-08-25 23:48:52 +01:00
Iampete1
df7321c0da
AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator
2021-08-21 09:54:33 +01:00
Andrew Tridgell
285798446a
AC_AttitudeControl: apply EKF Z gain scaler
...
for flying with DCM
2021-08-19 14:42:28 +10:00
Andrew Tridgell
c99f9312db
AC_AttitudeControl: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
Andrew Tridgell
25ee57080f
AC_AttitudeControl: this fixes an issue with Z accel initialisation
...
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
2021-08-16 08:33:34 +10:00
Leonard Hall
71ccffd7c9
AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk
2021-08-11 17:07:29 +09:00
Leonard Hall
f57175a84f
AC_AttitudeControl: Fix Angle Vel units on function
2021-08-11 17:07:29 +09:00
Leonard Hall
870888efeb
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-10 08:33:56 +09:00
Leonard Hall
0ad2bf15bc
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-03 17:04:43 +09:00
Peter Barker
5046083863
AC_AttitudeControl: rename for AHRS restructuring
2021-07-21 21:01:39 +10:00
Leonard Hall
ff1843a79c
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-21 16:03:44 +09:00
Leonard Hall
9d845759f8
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-21 15:40:41 +09:00
Leonard Hall
f130503cc7
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-21 15:40:41 +09:00
Leonard Hall
a32b5b3bb0
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-13 09:51:36 +10:00
Leonard Hall
ac0b320922
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-10 20:25:05 +09:00
Leonard Hall
e2b5d3d585
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-10 20:25:05 +09:00
Leonard Hall
e0e283f13e
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-10 20:25:05 +09:00
Leonard Hall
8a2f75d742
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-10 20:25:05 +09:00
Leonard Hall
6e82bff55b
AC_AttitudeControl: Add terain following to guided
2021-07-10 20:25:05 +09:00
Leonard Hall
b3acdd49d6
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-10 20:25:05 +09:00
Leonard Hall
8e084a0879
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-10 20:25:05 +09:00
Leonard Hall
8f493e3021
AC_AttitudeControl: Add shaping_tc_z_s accessor
2021-06-25 16:54:05 +09:00
Leonard Hall
5475d1153c
AC_PosControl: fixup ekf reset
2021-06-25 10:01:49 +09:00
Andrew Tridgell
66186e5221
AC_AttitudeControl: convert poscontrol to use double position
2021-06-24 21:34:30 +10:00
Andrew Tridgell
7819cc6400
AC_AttitudeControl: cleanup poscontrol comments with input from Leonard
2021-06-24 20:28:45 +10:00
Andrew Tridgell
5f053bd53a
AC_AttitudeControl: fixed comment
2021-06-24 20:28:45 +10:00
Andrew Tridgell
fd68233fed
AC_AttitudeControl: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Leonard Hall
47b0ac663a
AC_AttitudeControl: AC_PosControl: Init and stopping point fixes
2021-06-24 09:01:07 +10:00
Leonard Hall
ffc64c3042
AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit
2021-06-23 10:58:50 +09:00
Leonard Hall
d599052da3
AC_AttitudeControl:AC_PosControl: vibration failsafe fix
2021-06-23 10:29:23 +09:00
Leonard Hall
d9529e1be3
AC_AttitudeControl: AC_PosControl: Remove extra accel limit
2021-06-21 14:14:23 +09:00
Peter Hall
716ceb93c5
AC_AttitudeControl: add thrust vector methods to 6DoF multi
2021-06-21 09:58:05 +09:00
Hwurzburg
27620322ec
AC_AttitudeControl: remove % as units on params that are unitless
2021-05-30 22:38:27 -07:00
Hwurzburg
3f4d4e45fc
AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults
2021-05-28 09:44:11 +09:00
Randy Mackay
d9c68031fa
AC_PosControl: write_log checks xy and z controllers are active
...
This allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages
2021-05-26 18:58:31 +10:00
Leonard Hall
359cf8ed0e
AC_AttitudeControl: Rename set_attitude_target_to_current_attitude
2021-05-26 16:03:05 +09:00
Leonard Hall
fb83f98b77
AC_AttitudeControl: Set rates to zero during arming procedure for acro
2021-05-26 16:03:05 +09:00
Leonard Hall
34e342f658
AC_AttitudeControl: Rename set_yaw_target_to_current_heading
2021-05-26 16:03:05 +09:00
Leonard Hall
b489dd5fe1
AC_AttitudeControl: Set yaw rate to zero during arming procedure
2021-05-26 16:03:05 +09:00
Hwurzburg
ff931c7490
AC_AttitudeControl: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Leonard Hall
491350c1d6
AC_AttitudeControl: Fix before squash
2021-05-24 20:13:37 +10:00
Andrew Tridgell
8213fc5277
AC_AttitudeControl: prevent panic on SITL when no lock-step scheduling
...
this disables the internal error for bad timing on SITL types without
lock-step scheduling, such as RealFlight
2021-05-24 20:13:37 +10:00
Leonard Hall
92e05e8c4f
AC_AttitudeControl: PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
7f1f29c1ae
AC_PosControl: rename get_roll_cd get_pitch_cd
2021-05-12 17:16:00 +10:00
Leonard Hall
f24a0988f4
AC_PosControl: minor formatting fixes
2021-05-12 17:16:00 +10:00
Leonard Hall
772cec5101
AC_AttitudeControl: minor format fix
2021-05-12 17:16:00 +10:00
Leonard Hall
4158c37cfa
AC_PosControl: Calculate heading
2021-04-27 17:13:55 +09:00
Leonard Hall
e253c94f63
AC_AttitudeControl: Remove Unused Function
2021-04-27 17:13:55 +09:00
Leonard Hall
bb46f7a947
AC_PosControl: Thrust Vector output
2021-04-27 17:13:55 +09:00
Leonard Hall
1fb2a95486
AC_AttitudeController: Thrust Vector attitude control
2021-04-27 17:13:55 +09:00
Peter Barker
a3c329b182
AC_AttitudeControl: make parameter renames consistent
2021-04-21 12:17:42 +10:00
Leonard Hall
b43c7f4ed1
AC_AttitudeControl: Parameter rename (non-functional)
2021-04-21 12:17:42 +10:00
hs293go
de0c57de77
AC_AttitudeControl: Use Quaternion::operator* for vector rotation
...
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
2021-04-21 12:17:42 +10:00
Leonard Hall
86a157ce59
AC_AttitudeControl: Seperate thrust vector correction into a separate function
2021-04-21 12:17:42 +10:00
Leonard Hall
c28d103afe
AC_AttitudeControl: Fix Angular velocity rotation to body frame
...
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
2021-04-19 14:48:59 +10:00
Leonard Hall
6a8ba6f329
AC_PosControl_Sub: update for new position controller changes
2021-04-03 12:07:59 +09:00
Randy Mackay
cb0d37586e
AC_PosControl: use Vector limit_length and formatting fixes
2021-04-03 12:07:59 +09:00
Leonard Hall
ba00c2edd6
AC_PosControl: alt hold controller update
...
pass accel limit top_pos_xy
prearm check updated
fix PSC_VELZ_FLTE/D param descriptions
fix VelZ FF param desc
limit maximum desired z component
integrate AC_PID_Basic
2021-04-03 12:07:59 +09:00
Leonard Hall
b73ad1a1bc
AC_PosControl: remove unused sqrt_controller_3D
2021-04-03 12:07:59 +09:00
Leonard Hall
49da872218
AC PosControl: fix position error get functions
2021-04-03 12:07:59 +09:00
Randy Mackay
ae66803148
AC_AttitudeControl: minor optimisation and comment fixes
2021-04-03 12:07:59 +09:00
Leonard Hall
d6e3495eca
AC_AttitudeControl: support for feedforward rate in angle request for yaw
2021-04-03 12:07:59 +09:00
Peter Hall
aa75fc2c3d
AC_PosControl: use target lean angles rather than true for init
2021-03-17 08:13:11 +09:00
Peter Hall
a43db51440
AC_AttitudeControl: add get_att_target_euler_rad function
2021-03-17 08:13:11 +09:00
Leonard Hall
e788d63686
AC_AttitudeControl: clear up comment for inertial_frame_reset
2021-02-17 21:19:18 +09:00
Leonard Hall
f53242b323
AC_AttitudeControl: rename thrust_heading_rotation_angles args
2021-02-10 18:35:58 +11:00
Leonard Hall
ad6e2eeed8
AC_AttitudeControl: remove feed-forward from run_quat
2021-02-10 18:35:58 +11:00
Leonard Hall
8ace1bfad1
AC_PosControl: const local vars and remove todo
2021-02-10 13:26:23 +09:00
Randy Mackay
0703a1cf93
AC_PosControl: add PSCZ logging
2021-02-09 19:33:52 +09:00
Randy Mackay
9f914d9e7d
AC_PosControl: add get_z_accel_cmss helper function
2021-02-09 19:33:52 +09:00
Iampete1
7d5e5f8dd7
AC_AttitudeControl: add SITL panic to remind us to implent the quarternion
2021-02-09 12:43:54 +09:00
Iampete1
791e68b4ef
AC_AttitudeControl: add 6DoF support
2021-02-09 12:43:54 +09:00
Patrick José Pereira
e3d018c401
AC_AttitudeControl: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Leonard Hall
25fff17e48
AC_AttitudeControl: constify some local variables
2021-01-22 14:22:18 +09:00
Randy Mackay
031be010ac
AC_AttitudeControl: tailsitter sets target rates more efficiently
2021-01-20 18:21:12 +11:00
Randy Mackay
6320338771
AC_PosControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59
AC_AttitudeControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
murata
d7533843d5
AC_AttitudeControl: Set the gravitational acceleration value to the defined value
2021-01-05 09:11:14 +09:00
bnsgeyer
04e2cceaff
AC_AttitudeControl: Tradheli support for integrator management and hover collective learning
2020-12-21 23:33:48 -05:00
Mark Whitehorn
7446a9c33c
AC_AttitudeControl: make relax_attitude_controllers() non-virtual
2020-12-21 12:56:24 +11:00
Mark Whitehorn
cc2c631d23
AC_AttitudeControl: add AC_AttitudeControl_TS
...
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
2020-12-21 12:56:24 +11:00
Randy Mackay
d6869b9234
AC_PosControl: fix typo in posxy_p param desc
2020-11-05 14:59:00 +09:00
Andrew Tridgell
0a7c628355
AC_AttitudeControl: added SMAX param docs
2020-10-25 10:32:48 +11:00
Randy Mackay
4ed486bb92
AC_AttitudeControl: revert Add PosControl PID logging
2020-09-12 08:10:33 +09:00
Iampete1
c109df3dd5
AC_AttitudeControl: Add PosControl PID logging
2020-09-11 10:12:08 +10:00
Iampete1
e955b431ef
AC_PosControl: move to structure logging for PSC
2020-09-11 10:12:08 +10:00
Iampete1
c27bdafea4
AC_PosControl: correct VELXY_D_FILT Description
2020-06-23 11:40:12 +09:00
Leonard Hall
edadbae240
AC_AttitudeControl: Handle zero accel value correctly in angle correction.
2020-06-23 08:21:47 +09:00
Randy Mackay
1498e4c037
AC_AttitudeControl: remove unused macro
2020-04-27 09:39:46 +09:00
Rishabh
6a98ab569e
AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller()
2020-04-21 09:22:45 +10:00
Peter Barker
afc0fbc516
AC_AttitudeControl: add CTRL log message documentation
2020-04-12 08:36:48 +10:00
Peter Barker
e477f6c840
AC_PosControl: add documentation for PSC log message
2020-04-06 10:46:45 +10:00
Randy Mackay
06b62107c7
AC_PosControl: move freeze_ff_z to be with other z-axis methods
...
Also minor comment fix to get_stopping_point_xy
2020-03-11 10:39:18 +09:00
Leonard Hall
29332ac112
AC_PosControl: add relax_velocity_controller_xy
2020-03-11 10:39:18 +09:00
Bill Geyer
bf345b0dd4
AC_AttitudeControlHeli: update filter parameter desc mins
2020-02-26 08:02:27 +09:00
Randy Mackay
aff854f485
AC_AttitudeControl: update param ranges
2020-02-26 08:02:27 +09:00
Randy Mackay
fc2e15651e
AC_PosControl: allow smaller changes in max speed and accel
...
also small changes in max speed for z-axis
2020-02-22 08:53:41 +09:00
Randy Mackay
e36d4d19e2
AC_AttitudeControl_Heli: fix VFF and ILMI param descriptions
2020-02-14 09:20:17 +09:00
Randy Mackay
5e60ae8a26
AC_PosControl: add missing ACCZ param descriptions
2020-02-14 09:20:11 +09:00
Randy Mackay
84e6c59fdd
AC_AttitudeControlHeli: fix update_althold_lean_angle_max use of throttle_in
2020-01-29 10:59:28 +09:00
Randy Mackay
3c8aa955d5
AC_AttitudeControlSub: fix update_althold_lean_angle_max use of throttle_in
2020-01-29 10:59:27 +09:00
Leonardo Felipe L. S. dos Santos
07f45e1ef9
AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of
...
throttle_in
2020-01-29 10:58:56 +09:00
Randy Mackay
b9ff846162
AC_AttitudeControl: remove old RAT_FILT param desc
2020-01-21 13:06:56 +09:00
Bill Geyer
7ee4054515
AC_AttitudeControl: tradheli-Remove Param descriptions
...
This remove the old filter param description from AC 3.6 and adds the new filter param descriptions.
2020-01-21 11:02:38 +09:00
Peter Barker
d6dbdd58d3
AC_AttitudeControl: adjust for some methods on AP_AHRS become non-const
2020-01-21 11:53:18 +11:00
Mark Whitehorn
7e8aecac50
AC_AttitudeControl: simplify body-frame roll axis swapping
2019-12-18 08:33:29 +11:00
Mark Whitehorn
bb9b116574
AC_AttitudeControl: fix argument order in tailsitter bodyframe roll input methods
...
increase allowed yaw error in tailsitter bodyframe roll modes
add combined bodyframe roll method
delete old versions of body-frame roll input methods
invert mc_controls
2019-12-18 08:33:29 +11:00
Willian Galvani
678fd8de1d
AC_PosControl_Sub: do not reset accel_z integrator when relaxing
...
Doing so caused the ROV to dive and slowly go back to the altitude
setpoint
2019-12-02 13:26:27 -05:00
Luke.Qin
c8ef863e6d
AC_PosControl: fix minor bug for set_max_speed_z()
2019-11-26 19:28:38 +09:00
Leonard Hall
3ca713fdcb
AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away
2019-10-31 12:23:48 +08:00
Leonard Hall
368a8028ae
Heli: Prevent loss of yaw control during large angle recovery
2019-10-31 11:53:27 +08:00
Leonard Hall
5afb5b4956
AC_AttitudeControl: Prevent loss of yaw control during large angle recovery.
2019-10-31 11:53:27 +08:00
Leonard Hall
e5f724bc3a
AC_PosControl: add high vibration compensation
2019-10-18 11:15:25 +09:00
Leonard Hall
5acfc77a3c
AC_AttitudeControl: Support for Standby functions
2019-10-17 14:57:18 +09:00
bnsgeyer
d1a0635ec2
AC_AttitudeControl: incorporate SysID into tradheli
2019-10-16 08:17:09 +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
7f5d6662b3
AC_AttitudeControl: Support seperate roll and pitch limits
2019-08-03 12:06:32 +09:00
Leonard Hall
979b54b33e
AC_PosControl: support update to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
30746267ec
AC_AttitudeControl_Heli: support for updates to AC_PID library
...
includes rename get_leaky_i to update_leaky_i
2019-07-25 17:38:15 +09:00
Leonard Hall
bbe33e38f3
AC_AttitudeControl: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
78be1067a8
AC_AttitudeControl: Alt Hold init bug
2019-07-17 09:09:25 +09:00
Mark Whitehorn
ce1a082956
Plane: limit yaw error in bodyframe roll control
2019-04-30 08:51:24 +10:00
Mark Whitehorn
732ed17f2f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-04-23 09:15:55 +10:00
Mark Whitehorn
d72f2feeb5
AC_AttitudeControl: constrain input euler roll and pitch in bodyframe roll controls
...
and limit integrated error in bf_roll_pitch_yaw_3
2019-04-23 09:15:55 +10:00
Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Randy Mackay
4e494d5a63
AC_PosControl: minor comment fix to pre-arm checks
2019-04-16 11:23:46 +09:00
Randy Mackay
0624f6b8c3
AC_PosControl: minor comment fix
2019-04-16 11:23:46 +09:00
Leonard Hall
c00ee6aac5
AC_AttitudeControl: increase rate I gain to match P gain
2019-04-12 09:28:24 +09:00
Leonard Hall
e170beaf8c
AC_AttitudeControl: reduce throttle mix for manual modes
2019-04-12 09:28:22 +09:00
Peter Barker
9c9ebb908c
AC_AttitudeControl: store integrators temps in correct type
2019-04-10 09:37:19 +09:00
Peter Barker
70aed0f29c
AC_AttitudeControl: store acro passthrough values as float
...
The function which sets these has floats, and the function we send them
to uses floats... so store them as floats...
2019-04-10 09:37:19 +09:00
Leonard Hall
6e76dff930
AC_AttitudeControl: remove unused set_throttle_out_unstabilized
2019-04-08 09:42:21 +09:00
Mark Whitehorn
b7957e820f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-03-30 10:32:24 +11:00
Tom Pittenger
ce872d83a4
AC_AttitudeControl: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Patrick José Pereira
6152f31c1e
AC_PosControl_Sub: Add new relax_alt_hold_controllers
...
When changing from manual to alt hold controller it's necessary to hold the I term
since this will help to fix the altitude with vehicles that are not neutral buoyancy
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2019-03-26 13:37:18 -04:00
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
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