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521 Commits

Author SHA1 Message Date
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
Leonard Hall e249e06714 AC_PosControl: minor enhancement to lean_angles_to_accel 2018-01-20 09:49:58 +09:00
Leonard Hall d5976442f8 AC_PosControl: minor comment change 
non-functional change
 2018-01-19 15:40:32 +09:00
Leonard Hall 3ada0f32b0 AC_AttitudeControl: minor comment update 
Non-functional change
 2018-01-19 15:40:24 +09:00
Leonard Hall b9ed8b292a AC_PosControl: pass dt to att control sqrt_controller 2018-01-16 12:13:48 +09:00
Leonard Hall 62cc25022c AC_AttitudeControl: protect against overshoot in sqrt controller 2018-01-16 12:13:48 +09:00
Leonard Hall 75de0cb4ef AC_AttitudeControl: sqrt_controller accepts dt 2018-01-16 12:13:48 +09:00
Leonard Hall cddd815a75 AC_AttitudeControl: comment thrust_heading_rotation_angles 
non-functional change
 2018-01-12 15:20:47 +09:00
Leonard Hall 3e0c24adf9 AC_PosControl: remove out-of-date comments 2018-01-11 21:18:34 +09:00
ChristopherOlson 569f55f5c6 AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters 
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
 2017-12-14 20:46:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas fa4427fbce AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method 2017-12-05 09:17:15 +09:00
Leonard Hall bd284d9fd7 AC_PosControl: correct lean-angle-to-accel formula 
Thanks to @luweikxy for finding this issue!
 2017-11-24 09:12:00 +09:00
Leonard Hall ebd864d2d2 AC_PosControl: minor update to comments 2017-11-16 09:46:28 +09:00
Randy Mackay 6315e6eb45 AC_AttitudeControl: remove unused get_tilt_limit_rad 2017-11-15 20:22:02 +09:00
bnsgeyer e8173f27df AC_AttitudeControl: reset target attitude 
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
 2017-10-28 12:31:06 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas c7c2c4ff2c AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division 2017-10-23 09:20:17 -07:00
Andrew Tridgell f2efea4e1d AC_AttitudeControl: added inverted flight support 
for helis
 2017-10-03 10:16:41 +11:00
Andrew Tridgell 99aad41955 AC_AttitudeControl: added a update_vel_controller_xy() API 
this allows for just XY control of velocity for quadplanes
 2017-09-09 08:14:09 +10:00
Andrew Tridgell 1a25087dd5 AC_AttitudeControl: fixed PIRO_COMP index 
this is a new conflict due to stricter checking in AP_Param
 2017-08-14 09:28:57 +09:00
Leonard Hall ed0063d10d AC_AttControl: save accel max using shorter set_and_save 
no functional change
 2017-06-22 15:20:16 +09:00
Leonard Hall 0544cf1d82 AC_AttControl: add step input for autotune 2017-06-22 15:18:04 +09:00
Peter Barker d56eca036d AC_AttitudeControl: correct parameter markup 2017-06-05 21:02:30 +10:00
Leonard Hall ad74769fb7 AC_AttControl: adjust default rate IMAX and Yaw Filt 
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
 2017-06-01 10:08:41 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 188dfb6936 AC_AttitudeControl: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Randy Mackay 3a397584a1 AC_PosControl: z-axis stopping point up to 3m above vehicle 
Stopping point while descending remains at 2m for safety
 2017-04-28 09:10:02 +09:00
Leonard Hall 6e92f74ca0 AC_PosControl: add clear_desired_velocity_ff_z method 2017-04-28 09:10:02 +09:00
Andrew Tridgell fe3e7e8153 AC_AttitudeControl: added get_throttle_mix() 
and when we use set_throttle_mix_value(), set both desired and actual

thanks to Leonard for the suggestions
 2017-04-19 09:08:43 +10:00
Randy Mackay 132979b12f AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero 2017-03-15 09:22:23 +09:00
Randy Mackay 67097c8d59 AC_AttitudeControl: use gyro_latest 
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
 2017-03-03 13:14:28 +11:00
Randy Mackay d79403707b AC_AttControl: add feed forward param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Andrew Tridgell e5ed20d6f7 AC_AttitudeControl: added set_throttle_mix_value() 
used by quadplane
 2017-02-26 09:20:51 +11:00
Jacob Walser 0e124d0be5 AC_PosControl: Add AC_PosControl_Sub class 2017-02-21 11:26:14 +11:00
Jacob Walser 925fa5d214 AC_AttitudeControl: Add AC_AttitudeControl_Sub class 2017-02-21 11:26:14 +11:00
Andrew Tridgell 1345bf8737 AC_AttitudeControl: added support for AP_AHRS_View 
this allows for tailsitters with a different attitude view
 2017-02-18 17:26:43 +11:00
Andrew Tridgell 5acbf5d16e AC_AttitudeControl: use FF from AC_PID 2017-02-18 17:26:43 +11:00
Randy Mackay ff042528fe AC_PosControl: remove alt_max 
AC_Avoidance enforces the altitude limit
 2017-01-18 09:35:47 +09:00
Randy Mackay 127404acea AC_PosControl: add get_pos_z_kP accessor 2017-01-18 09:35:47 +09:00
Randy Mackay 189b766f2b AC_AttControl: remove redundant parameter set 2017-01-17 14:56:07 +09:00
Leonard Hall c6d2fc3d5d AC_AttitudeControl: add rpy mix manual 
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
 2017-01-17 14:19:09 +09:00
Andrew Tridgell 5cf1c0869d AC_AttitudeControl: expose all functions via abstract class 
this allows for a single class to be used for heli and multicopter
 2017-01-12 17:39:37 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Pierre Kancir 421524951f AC_PosControl: remove unnecessary parentheses 2016-12-05 10:59:45 -08:00
murata bcdd836820 AC_AttControl: remove unnecessary check of thr-mix-min 
Checks directly above ensure this check can never be true
 2016-12-01 13:52:04 +09:00
Leonard Hall 8af192ed9d AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0 
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
 2016-11-30 17:56:34 +09:00
Randy Mackay 1012333eef AC_PosControl: add ekf position reset handling 
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
 2016-11-24 19:57:56 +09:00
Leonard Hall ea0e413b04 AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero 2016-11-23 14:43:29 +09:00
Peter Barker 2e2d39e628 AC_AttitudeControl: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Leonard Hall 42672de606 AC_PosControl: set Alt_Hold filter for PID not just D 
We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
 2016-10-26 21:00:43 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Jonathan Challinger 5a8db4f271 AC_PosControl: add interface to override horizontal velocity process variable 2016-10-14 10:46:01 +09:00
Jonathan Challinger 77dbf99cee AC_PosControl: fix bug related to ekfNavVelGainScaler 2016-10-11 15:25:59 +09:00
Tom Pittenger 3adf8c3e51 AC_AttitudeControl: comment odd math in get_att_target_euler_cd 
degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f)  = 4 float multiplications
degree(vector3f) * 100.0f  = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f)  = 6 float multiplications and needs new degree(vector3f) function

These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
 2016-09-27 17:04:53 -07:00
Leonard Hall fdcdcb0033 AC_PosControl: check Z-axis accel imax can always overpower hover throttle 
This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
 2016-09-05 14:19:43 +09:00
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +09:00
Randy Mackay 535158e0d8 AC_AttControl: move var_info declaration 
No functional change
 2016-09-02 09:27:12 +09:00
Leonard Hall 29d4790fc7 AC_AttControl: reduce max_rate_step based on hover throttle 
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
 2016-08-12 22:29:53 +09:00
Leonard Hall 50b694444b AC_AttControl: correct method comments 
No functional change
 2016-08-08 11:24:42 +09:00
Leonard Hall 34055944cd AC_PosControl: fix relax_alt_hold_controllers 2016-08-05 12:40:37 +09:00
Randy Mackay 24044e5611 AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range 
throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control.  This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
 2016-08-05 12:40:37 +09:00
Leonard Hall ac04fcd836 AC_AttControl: fix set_yaw_target_to_current_heading 2016-08-05 12:40:37 +09:00
Leonard Hall 011bc0a350 AC_AttControl: add reset_rate_controller_I_terms() 2016-08-05 12:40:37 +09:00
Randy Mackay d5c18dc987 AC_AttControl: remove unused 100hz definition 2016-08-01 17:21:04 +09:00
Jonathan Challinger 630e5378da AC_PosControl: add get_horizontal_error 2016-07-12 18:40:25 +09:00
Leonard Hall 80bda572ba AC_AttutudeControl: Yaw shift fix 2016-06-24 18:15:48 +09:00
Leonard Hall 8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +09:00
Leonard Hall 117ae89505 AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec 2016-06-24 16:24:17 +09:00
Randy Mackay a1548405c1 AC_AttitudeControlHeli: fix althold lean angle max 2016-06-24 15:03:59 +09:00
Andrew Tridgell d1b28aaed9 AC_AttitudeControl: fixed factor of 1000 error in init_takeoff 2016-06-22 11:48:43 +10:00
Randy Mackay ec7c1ab0b0 AC_PosControl: comment fix to set_alt_max method 
No functional change
 2016-06-18 11:55:49 +09:00