lthall
|
21c93e48ab
|
AC_PosControl: include vel error when get_stopping_point_z
Pair programmed with Randy
|
2014-05-08 16:15:24 +09:00 |
Randy Mackay
|
a1f1dd8059
|
AC_PosControl: add is_active_z method
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
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
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
|
09a35cf90f
|
AC_PosControl: bugfix for freezing I-term build-up
|
2014-04-23 11:33:53 +09:00 |
Randy Mackay
|
9c6995d8bb
|
AC_PosControl: add get_accel_z method
|
2014-04-22 23:05:08 +09:00 |
Randy Mackay
|
e565ee6d33
|
AC_PosControl: stop I term build-up when motors at max
|
2014-04-22 23:05:06 +09:00 |
Randy Mackay
|
6f6c9e2585
|
AC_PosControl: bug fix to vertical speed limit
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
|
5876a2fe47
|
AC_AttControl: increase default rp accel to 900deg/s/s
|
2014-04-07 13:37:08 +09:00 |
Randy Mackay
|
b478c3a321
|
AC_AttControl: return angle_ef_targets as const ref
|
2014-04-07 13:36:49 +09:00 |
Randy Mackay
|
90e205c905
|
AC_PosControl: replace safe_sqrt with pythagorous2
|
2014-04-01 20:43:51 +09:00 |
Andrew Tridgell
|
3b8c6e629d
|
AC_AttitudeControl: updated example for new GPS API
|
2014-04-01 06:38:25 +11:00 |
Randy Mackay
|
3ad635feeb
|
AC_AttControl: 45deg/sec yaw rate for Auto, RTL
|
2014-03-30 15:44:14 +09:00 |
Randy Mackay
|
7bff8e9312
|
AC_AttControl: constrain earth frame yaw angle error
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
|
2014-03-29 20:42:21 +09:00 |
Andrew Tridgell
|
73ae38eaf0
|
AC_AttitudeControl: fixed example build
|
2014-03-19 12:13:56 +09:00 |
Randy Mackay
|
dd45647626
|
AC_PosControl: update some comments re leash lengths
|
2014-03-17 10:13:02 +09:00 |
Holger Steinhaus
|
345115fddd
|
AC_PosControl: fixed leash length calc for descent speed
|
2014-03-17 10:12:47 +09:00 |
Randy Mackay
|
25ee5d5dc8
|
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
pair-programmed with lthall
|
2014-03-04 22:23:14 +09:00 |
lthall
|
15f88c2a2b
|
AC_AttControl: Stabilize input shaping
|
2014-03-04 21:52:18 +09:00 |
jschall
|
024855014f
|
AC_PosControl: update _pos_error if it is being limited
This fixes a bug that causes 10hz throttle noise.
|
2014-02-17 22:33:06 +09:00 |
Randy Mackay
|
d277b6cabd
|
AC_AttControl: fix @Units parameter descriptions
|
2014-02-16 22:36:59 +09:00 |
Andrew Tridgell
|
856dfd0ee6
|
AC_AttitudeControl: fixed example build
|
2014-02-16 18:43:15 +11:00 |
Randy Mackay
|
9130c88f15
|
AC_PosControl: throttle rate to simple P controller
|
2014-02-16 13:35:44 +11:00 |
Randy Mackay
|
34b62fc078
|
AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX
|
2014-02-16 13:35:26 +11:00 |
lthall
|
b8d9bdb794
|
AC_AttControl: accel limit for roll, pitch yaw rates
|
2014-02-16 13:35:23 +11:00 |
Randy Mackay
|
c35bd84e21
|
AC_AttControl: fix example sketch
|
2014-02-15 06:09:08 +11:00 |
Randy Mackay
|
451910fc94
|
AC_AttControlHeli: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
Randy Mackay
|
ff9f4fe6e7
|
AC_AttControl: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
Randy Mackay
|
94fb9c4274
|
AC_PosControl: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
Randy Mackay
|
a6ad51b38f
|
AC_AttControl: rename most methods
|
2014-02-15 06:09:08 +11:00 |
lthall
|
65c2fc0cc6
|
AC_AttControl: ACRO fixes
|
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
|
8baf5ebf4a
|
AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr
|
2014-02-15 05:27:49 +11:00 |
Randy Mackay
|
f216cffb77
|
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
Saves 8bytes of RAM
|
2014-02-15 05:27:49 +11:00 |
Randy Mackay
|
98224db1e4
|
AC_AttControl: Leaonard's rate feedforward
Also saves 24bytes of RAM
|
2014-02-15 05:27:49 +11:00 |
Randy Mackay
|
5f89e9e746
|
AC_AttControl: bug fix to yaw rate limit
|
2014-02-15 05:27:48 +11:00 |
Randy Mackay
|
d76180d605
|
AC_AttControl: use trig values from ahrs
|
2014-02-15 05:27:48 +11:00 |
Randy Mackay
|
8b8d6a8e01
|
AC_PosControl: use trig values from ahrs
|
2014-02-15 05:27:48 +11:00 |
Randy Mackay
|
082c5021ee
|
AC_AttControlHeli: add comments
|
2014-02-15 05:27:47 +11:00 |
Randy Mackay
|
a7504faa7d
|
TradHeli: empty angle_boost for trad heli
|
2014-02-15 05:27:44 +11:00 |
Randy Mackay
|
eda376c7f6
|
AC_AttControl: init_targets() clears body frame angle errors
This should ensure that we don't get sudden jerks when entering acro
mode
|
2014-02-15 05:27:43 +11:00 |
Randy Mackay
|
2643ee9724
|
AC_AttControl_Heli: adjust for new slew_yaw param
|
2014-02-15 05:27:43 +11:00 |
Randy Mackay
|
2db24659d0
|
AC_AttControl: add slew_yaw
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
959f5ec3b2
|
AC_AttControl: tradheli add RATE_RP_MAX
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
2dae0d68c5
|
AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params
These replace the ANGLE_RATE_MAX parameter from the main code
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
c2efb91ece
|
AC_AttControl: trad heli angle boost
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
ebbff24a04
|
AC_AttControl: trad heli yaw
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
4f738ffdba
|
AC_AttControl: add trad heli support
|
2014-02-15 05:27:42 +11:00 |
Randy Mackay
|
551836c49d
|
AC_PosControl: make some methods const
|
2014-02-15 05:27:40 +11:00 |
Randy Mackay
|
a2b017abd2
|
AC_AttControl: add rateef_rpy
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
|
2014-02-15 05:27:40 +11:00 |
Randy Mackay
|
468be05867
|
AC_AttControl: make ahrs, ins objects 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
|
1b8791a142
|
AC_PosControl: remove debug
|
2014-02-15 05:27:39 +11:00 |
Randy Mackay
|
4003b4da9b
|
AC_AttControl: leonard's body frame rate controller
|
2014-02-15 05:27:38 +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
|
ba3ba9e157
|
AC_AttControl: bug fix for yaw target handling
|
2014-02-15 05:27:37 +11:00 |
Randy Mackay
|
80ae3dca2e
|
AC_PosControl: remove debug
|
2014-02-15 05:27:36 +11:00 |
Randy Mackay
|
b9ae3ce2ff
|
AC_PosControl: fixed example sketch
|
2014-02-15 05:27:36 +11:00 |
Randy Mackay
|
9fe4d883d0
|
AC_AttControl: accessor for lean angle max
|
2014-02-15 05:27:35 +11:00 |
Randy Mackay
|
bbcf8cc84c
|
AC_PosControl: add horizontal pos control
|
2014-02-15 05:27:35 +11:00 |
Randy Mackay
|
0e0a15f4a8
|
AC_AttControl: add high level angle controllers
|
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
|
89b7e6b1c8
|
AC_AttControl: implement angle_boost
|
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 |
Randy Mackay
|
715c8eaf02
|
AC_AttitudeControl: first draft of library
|
2014-02-15 05:27:32 +11:00 |