Randy Mackay
570c12215d
AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits
2021-09-10 07:50:00 +09:00
Peter Barker
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
2021-07-21 18:27:23 +10:00
Iampete1
bc90ba5486
AR_AttitudeControl: get_steering_out_rate use abs speed for G limit
2021-05-19 16:02:20 +01:00
Iampete1
980c41e273
APM_Control: G limit all turn rates
2021-05-03 19:22:16 -04:00
Randy Mackay
f0ffaa5624
AR_AttitudeControl: reset speed filter and I term when stopped
2021-03-04 09:07:32 +09:00
Andrew Tridgell
9a244eef29
APM_Control: added SMAX param docs
2020-10-25 10:32:48 +11:00
Randy Mackay
2db57dffac
AR_AttitudeControl: update param desc increment and range
2020-09-16 16:49:40 +09:00
Peter Barker
c9f2b9ff87
AR_AttitudeControl: correct spelling error in param docs
2020-03-16 17:44:35 +11:00
Peter Hall
c71cbe2729
APM_Control: AR_AttitudeControl: add description for new PID params
2019-09-23 09:45:46 +09:00
Peter Barker
7fbaea7971
APM_Control: wrap_180_cd no longer solely returns floats
2019-09-18 12:57:02 +10:00
Randy Mackay
1b533295a8
AR_AttitudeControl: minor comment fixes
2019-08-06 20:00:05 +09:00
Peter Hall
65d8047165
AR_AttitudeControl: fix sailboat heel PID
2019-08-06 20:00:05 +09:00
Leonard Hall
6f14673f08
APM_Control: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf
Global: rename desired to target in PID info
2019-07-25 17:38:15 +09:00
Michael du Breuil
197804412a
APM_Control: Fix AP_GPS include
2019-06-18 10:02:05 +10:00
Randy Mackay
a96c146758
AR_AttitudeControl: set-throttle-out-stop considered same as running speed controller
...
update the speed-last-ms time when set-throttle-out-stop runs or else the desired throttle will not be acceleration limited when the desired speed is next increased above zero
2019-06-08 09:35:36 +09:00
Randy Mackay
4e68d16526
AR_AttitudeControl: use speed_control_active in get_desired_speed_accel_limited
...
also minor formatting fixes
this is a non-functional change
2019-05-10 06:55:35 +09:00
Randy Mackay
6d4d1bc20a
AR_AttitudeControl: add get_turn_rate_from_heading
2019-05-10 06:55:35 +09:00
Randy Mackay
8907b727f6
AR_AttitudeControl: add get_turn_rate_from_lat_accel
2019-05-10 06:55:35 +09:00
Randy Mackay
f6f5967a82
AR_AttitudeControl: minor param desc fix
2019-05-04 14:49:26 +09:00
IamPete1
49ec059420
APM_Control: add function to relax rover i terms
2019-02-27 08:51:24 +09:00
Peter Barker
b276034c60
APM_Control: correct use of incorrect abs functions
2018-10-19 08:46:43 +11:00
IamPete1
e443b864c6
AR_AttitudeControl: add sail heel PID
2018-09-28 10:40:12 +09:00
Randy Mackay
d7d6c6ab04
AR_AttitudeControl: clarify units of get_steering_out_heading argument
...
also update comments
2018-09-11 14:39:50 +09:00
Randy Mackay
96097586c3
AR_AttitudeControl: reset I if speed controller not called recently
2018-09-04 15:00:41 +09:00
Randy Mackay
106b8abab7
AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed
2018-08-27 16:44:33 +09:00
Randy Mackay
d5ef3c2e0f
AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits
...
This allows removing I-term build up from throttle hitting 100%
2018-08-27 16:44:33 +09:00
Randy Mackay
65b020eac3
AR_AttitudeControl: re-order pitch control to match other similar methods
2018-08-27 16:44:33 +09:00
Randy Mackay
1c18d06aa3
AR_AttitudeControl: move unnecessary else
2018-08-06 11:30:22 +09:00
Randy Mackay
9b60e0844b
AR_AttitudeControl: add get_desired_pitch accessor
2018-08-06 11:30:22 +09:00
Ebin
ccb32cf357
APM_Control: BRAKE param default is true
2018-07-20 14:41:32 +10:00
Randy Mackay
9eebb6225a
AR_AttitudeControl: brake fix to set limit in only one direction
2018-07-19 09:04:50 +08:00
Ebin
ce182fd307
APM_Control: fixed test condition in AR_AttutudeControl.cpp
2018-07-06 19:41:09 +10:00
Ebin
97a260a980
APM_Control: get_throttle_out_from_pitch() accepts dt as argument
2018-06-28 21:55:20 +09:00
Ebin
657ff06380
APM_Control: added balancing function for BalanceBot
2018-06-28 21:55:20 +09:00
Randy Mackay
5e7b37f0b2
AR_AttitudeControl: remove constraint on steering output
2018-06-12 17:44:10 +09:00
Ammarf
b614ca9b75
AR_AttitudeControl: disable limits when _ACCEL_MAX is zero
2018-06-11 08:54:59 +09:00
Randy Mackay
67475a9eaa
AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec
2018-06-01 15:06:13 +09:00
Randy Mackay
e691b680ca
AR_AttitudeControl: add speed-control-active method
...
allows caller check if speed controller if active
also consolidated other methods to use this check to reduce a little bit of duplicate code
2018-05-29 16:37:31 +09:00
Randy Mackay
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
2018-05-29 16:37:31 +09:00
Randy Mackay
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
...
This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
2018-05-24 11:06:20 +09:00
Randy Mackay
856d592b1d
AR_AttitudeControl: accel limit stops
2018-05-24 11:06:20 +09:00
Ammarf
832778e471
AR_AttitudeControl: add separate decel limit
2018-05-23 17:17:29 +09:00
Randy Mackay
f6c06496e2
AR_AttitudeControl: fix accel limiting
2018-05-21 10:28:56 +09:00
Ammarf
a9ee949c32
AR_AttitudeControl: limit desired steering rate
2018-05-21 09:48:43 +09:00
Randy Mackay
56672c1c28
AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration
2018-05-10 20:37:28 +09:00
Randy Mackay
9feaf9cfdd
AR_AttitudeControl: const some internal variables
...
non-functional change
2018-05-10 20:37:28 +09:00
Randy Mackay
fa76a7c904
AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds
2018-05-10 08:02:13 +09:00
Randy Mackay
5563691bd1
AR_AttitudeControl: assume positive steering output rotates vehicle clockwise
...
also remove steering scaling by speed which has been moved to AR_MotorsUGV
2018-05-10 08:02:13 +09:00
Randy Mackay
ce44326ba8
AR_AttitudeControl: fix get_steering_out_heading while reversing
2018-05-06 16:58:00 +09:00