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708 Commits

Author SHA1 Message Date
Bill Geyer 2377d7a2c3 AC_AttitudeControl: move input_shaping_rate into input_shaping_ang_vel 2022-06-28 07:56:12 +09:00
Bill Geyer be65358cc1 AC_AttitudeControl: incorporate suggested changes 2022-06-28 07:56:12 +09:00
Bill Geyer 355524206b AC_AttitudeControl: modify constructor to allow defaults 2022-06-28 07:56:12 +09:00
Bill Geyer fd24b3912f AC_AttitudeControl: add comments 2022-06-28 07:56:12 +09:00
Bill Geyer 1cd537895e AC_AttitudeControl: add command model class for parameters 2022-06-28 07:56:12 +09:00
Bill Geyer a547916ebf AC_AttitudeControl: only use rate shaping tc if tc is nonzero 2022-06-28 07:56:12 +09:00
bnsgeyer 7594f7a558 AC_AttitudeControl: incorporate sqrt controller in rate shaping 2022-06-28 07:56:12 +09:00
Andy Piper 1287fc4fff AC_AttitudeControl: reset throttle mix to used mix when scaling mix down 2022-06-22 16:17:26 +09:00
Andrew Tridgell 7e4fb803a2 AC_AttitudeControl: reduced default quadplane VTOL pos XY gains 2022-06-16 21:26:49 +10:00
Iampete1 ecc86b6a4b AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-05-27 08:17:14 +10:00
Ruffalo-sunghwan 7fb9d21cbf AC_AttitudeControl : correct comment spelling 2022-05-24 20:27:45 +09:00
murata 59dcf18558 AC_AttitudeControl: Shorten survival time of automatic variables 2022-05-16 09:08:02 +09:00
Leonard Hall 0d863aa736 AC_AttitudeControl: Allow diabling of slew limit 2022-05-14 22:31:43 +09:00
Andrew Tridgell 99a6cb69f8 AC_AttitudeControl: added get_rpy_srate() 
and remove dmod binding, as slew rate turned out to be more useful
 2022-05-03 10:01:19 +10:00
Peter Barker 0fb5be7f2b AC_AttitudeControl: tidy includes 2022-05-03 09:14:58 +10:00
Andrew Tridgell f8fe74f5fe AC_AttitudeControl: added get_rpy_PDmod method 
used for lua scripts to do VTOL tuning
 2022-04-29 11:54:12 +10:00
Willian Galvani 6e326ee912 AC_PosControl_Sub.h: do not use our own input_vel_accel_z 2022-04-13 16:23:55 -03:00
Andrew Tridgell cdfa682be0 AC_AttitudeControl: use deadzone for pitch 
when pitch for nose-in and tail-in is enabled we should use the
deadzone
 2022-04-13 18:19:02 +10:00
Andrew Tridgell f4548daa5a AC_AttitudeControl: added an option for pitch weathervaning 
when nose-in or tail-in, if the aircraft has significant pitch
asymmetry in hover then we would spin around in no wind if we use
pitch as an input

this makes pitch input for nose-in and tail-in optional and off by
default to preserve existing behaviour
 2022-04-13 18:19:02 +10:00
Peter Barker c1e776fc46 AC_AttitudeControl: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Andrew Tridgell 7bb129aa3e AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-18 13:36:16 +11:00
Iampete1 4386d748de AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return 2022-03-09 18:02:41 +11:00
Leonard Hall 56e47cb8cc AC_PosControl: Decay posiiton error during relax 2022-03-07 16:14:23 +09:00
Leonard Hall 057be63fdd AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-07 16:14:23 +09:00
Bill Geyer 6204898de4 AC_AttitudeControl: Tradheli-update default gains 2022-02-15 13:42:09 -05:00
Peter Hall a56eac0274 AC_AttitudeControl: WeatherVane: add takeoff and landing override params 2022-02-08 10:38:16 +11:00
Peter Hall 8fdc85ccbe AC_AttitudeControl: WeatherVane: add tail in option 2022-02-08 10:38:16 +11:00
Gone4Dirt cc545efa29 AC_AttitudeControl: add weathervane library 2022-02-08 10:38:16 +11:00
Joshua Henderson 4b51dc73b5 AC_Attitude_Control: add get_attitude_target_ang_vel 2022-02-07 08:24:35 +09:00
Leonard Hall 162dd6d2bc AC_AttitudeControl: AC_PosControl: Remove velocity override 2022-02-04 13:09:35 +09:00
Bill Geyer a2c1c809b2 AC_AttitudeControl: tradheli-change param name from _VFF to _FF 2022-02-04 08:03:38 +09:00
Leonard Hall b1f80fbe4f AC_AttitudeControl: Remove double colon 2022-02-03 14:36:21 +09:00
Joshua Henderson 8af7752110 AC_AttitudeControl: nfc PosControl fix to say relative to EKF origin 2022-02-03 12:05:12 +09:00
Iampete1 b3646494d4 AC_AttitudeControl: always use smaller of slew yaw and rate max 2022-02-01 08:19:35 +09:00
Leonard Hall d51e2d323e AC_AttitudeControl: AC_PosControl: use relax_integrator 2022-01-25 13:20:47 +09:00
Leonard Hall 1ad5479954 AC_AttitudeControl: use relax_integrator 2022-01-25 13:20:47 +09:00
Leonard Hall 48a15947ab AC_AttitudeControl: AC_PosControl: use consistent measured vel and accel callers in z 2022-01-25 13:20:47 +09:00
Leonard Hall 203529f45e AC_AttitudeControl: AC_PosControl_Sub: Increase Jerk with Accel when out of velocity range 2022-01-25 09:04:25 +09:00
Leonard Hall f6f51f5a74 AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range 2022-01-25 09:04:25 +09:00
Leonard Hall 2cda59c09d AC_AttitudeControl: AC_PosControl: Init desired accel to zero 2022-01-25 08:57:38 +09:00
Leonard Hall 7a9a0bfb3f AC_AttitudeControl: Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 2022-01-19 18:03:17 +11:00
Leonard Hall 894b491faa AC_AttitudeControl: AC_PosControl: Clean up init functions and limit initial xy accelerations based on max lean angle 2022-01-11 11:00:41 +11:00
Leonard Hall 0bdf34dc57 AC_AttitudeControl: Respect rate limit in max_rate_step 2022-01-11 10:57:53 +11:00
Andrew Tridgell 53f1fc1295 AC_AttitudeControl: added get_ang_vel_yaw_max_rads() 2021-12-21 11:02:51 +09:00
RickReeser d95c997606 AC_PosControl: fix comment 
In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing:

        // do not ignore limits until we have slowed down for landing
        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
 2021-12-21 07:41:47 +09:00
Leonard Hall 90db81354b AC_AttitudeControl: AC_PosControl: Prioritize crosstrack acceleration 2021-12-16 09:54:49 +09:00
Leonard Hall 9017ac6723 AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper 2021-12-07 09:47:42 +09:00
Randy Mackay a3886be920 AC_PosControl: minor formatting fix 2021-12-01 08:54:34 +09:00
Josh Henderson e11529ac01 AC_AttitudeControl: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson da418ed520 AC_AttitudeControl: rename Inav get_position_xy() & get_velocity_xy() 2021-11-30 10:08:07 +11:00