Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
35,187 Commits 71 Branches 509 Tags 756 MiB
Commit Graph

489 Commits

Author SHA1 Message Date
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