e691b680ca
AR_AttitudeControl: add speed-control-active method
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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
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
2018-05-29 16:37:31 +09:00
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
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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
856d592b1d
AR_AttitudeControl: accel limit stops
2018-05-24 11:06:20 +09:00
832778e471
AR_AttitudeControl: add separate decel limit
2018-05-23 17:17:29 +09:00
f6c06496e2
AR_AttitudeControl: fix accel limiting
2018-05-21 10:28:56 +09:00
a9ee949c32
AR_AttitudeControl: limit desired steering rate
2018-05-21 09:48:43 +09:00
56672c1c28
AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration
2018-05-10 20:37:28 +09:00
9feaf9cfdd
AR_AttitudeControl: const some internal variables
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non-functional change
2018-05-10 20:37:28 +09:00
fa76a7c904
AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds
2018-05-10 08:02:13 +09:00
5563691bd1
AR_AttitudeControl: assume positive steering output rotates vehicle clockwise
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also remove steering scaling by speed which has been moved to AR_MotorsUGV
2018-05-10 08:02:13 +09:00
ce44326ba8
AR_AttitudeControl: fix get_steering_out_heading while reversing
2018-05-06 16:58:00 +09:00
3f1f68b130
AR_AttitudeControl: support vectored thrust
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steering output is not scaled for speed
steering integrator does not build up at low speed
2018-04-24 19:57:19 +09:00
9c2da896b9
AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero
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this reduces the final jerk to a when transitioning from forward to reverse and in cases where ATC_ACCEL_MAX is small
2018-04-24 12:24:53 +09:00
365e1030db
AR_AttitudeControl: separate speed limiting to new method
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This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run.
This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers
2018-04-24 12:24:53 +09:00
27234f78c6
AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
a8857726d1
AR_AttitudeControl: replace get_steering_out_angle_error with heading
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internally uses AHRS's heading to determine angle error so overally a non-functional change
2018-04-05 12:14:59 +09:00
e6f8021519
AR_AttitudeControl: add angular accel and rate limits
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This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
2018-04-05 12:14:59 +09:00
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
2018-03-14 12:40:04 +09:00
5e90cdbf59
AR_AttitudeControl: parameter desc range increase
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new steering controller can use higher FF and zero P
2018-01-12 08:15:34 +09:00
1bb18bc941
AR_AttitudeControl: get_throttle_out_speed uses timeout definition
2018-01-05 13:33:21 +09:00
4ac5ef3a13
AR_AttitudeControl: allow filter to be zero
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Also increase default filter to 50hz
2018-01-05 13:33:21 +09:00
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
2018-01-05 13:33:21 +09:00
40bb2b0ad9
AR_AttitudeControl: set throttle speed pid dt
2018-01-05 13:33:21 +09:00
a2b1807ca0
AR_AttitudeControl: fix turn-rate controller timeout
2018-01-05 13:33:21 +09:00
e0c586876b
APM_Control: use GPS singleton
2017-12-27 00:58:02 +00:00
cabced82f1
AR_AttitudeControl: fix parameter descriptions
2017-12-11 17:01:18 +09:00
78f732c380
AR_AttitudeControl: fix parameter docs
2017-12-11 08:35:33 +09:00
744f4baf22
AR_AttitudeControl: add parameter description increment
2017-12-09 16:23:25 +09:00
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
2017-12-09 16:23:22 +09:00
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
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for reporting use only
2017-12-09 12:18:49 +09:00
f7db538220
APM_Control: Fixed the subparam indexs to start at 1
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AFAIK there is still a bug in ArduPilot where subparams should not start at index 0. This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total. So params, sub params and sub sub params. The 0 parameter in all those is unfortunately always references param[0]. So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value. Its why we always say start the index from 1 as the math and bitshifting then works correctly.
Yeah this is worded badly - hard to explain.
2017-11-29 09:43:10 +09:00
b9a1621d38
AR_AttitudeControl: minor comment fix
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non-functional change
2017-11-27 10:35:26 +09:00
2a25011b14
AR_AttitudeControl: const local variables
2017-11-09 09:53:12 +09:00
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
2017-11-08 15:45:35 +09:00
d226ffeeb2
AP_AttitudeControl: remove tabs
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non-functional change
2017-11-08 15:06:25 +09:00
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
2017-11-08 14:36:23 +09:00
ce73d724c8
AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds
2017-10-26 19:45:04 +09:00
ee3daaa7c9
AR_AttitudeControl: reset input filter for steering and throttle controllers
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Also only set dt to non-zero value
2017-10-26 19:44:54 +09:00
2986d3eb7d
AR_AttitudeControl: fix braking
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this fix ensures the output throttle is never in the opposite direction from the desired-speed
there is a possibility that this could lead to rougher throttle response when the vehicle is transitioning from forward to backwards motion because the throttle response will immediately go to zero when the desired speed cross over zero
2017-10-26 19:44:38 +09:00
49cbbf4d76
AR_AttitudeControl: minor comment fix
2017-10-26 19:44:32 +09:00
8daa8cba1f
AR_AttitudeControl: record desired turn rate and speed for logging
2017-10-26 19:44:26 +09:00
7e5f98b535
APM_Control: fix throttle and steering integrator calc
2017-10-07 14:55:16 +09:00
9f876dc7a0
AR_AttitudeControl: throttle and steering control library
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Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering
Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
2017-08-15 20:47:19 +09:00
Randy Mackay
Ammarf
Daniel Widmann
Peter Barker
Michael Oborne
Grant Morphett
khancyr