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104 Commits

Author SHA1 Message Date
Randy Mackay 5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Randy Mackay 86bb03aa79 AC_AttControl: use ahrs get_rotation_body_to_ned 
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
 2015-12-23 11:38:21 +09:00
Jonathan Challinger 46e6ff3ca9 AC_AttitudeControl: modify comment on kinematic correction feedforward 2015-12-23 11:38:19 +09:00
Jonathan Challinger 829d6037fc AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude 2015-12-23 11:38:16 +09:00
Jonathan Challinger ae3357baee AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame 2015-12-23 11:38:14 +09:00
Jonathan Challinger 3d4bd92b48 AC_AttitudeControl: add helper functions to retrieve rotation matrices 2015-12-23 11:38:12 +09:00
Jonathan Challinger ee8090e25f AC_AttitudeControl: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Randy Mackay 02eda4dcab AC_AttControl: remove comment, fix formatting 2015-12-09 20:04:32 +09:00
Jonathan Challinger 3a06edcee3 AC_AttitudeControl: rename local variable to match naming convention 2015-12-09 19:58:46 +09:00
Jonathan Challinger 846ee7d2af AC_AttitudeControl: fix regression in angular velocity controller 2015-12-09 19:58:45 +09:00
Jonathan Challinger b8223771d3 AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits 2015-12-09 19:58:44 +09:00
Jonathan Challinger 162d2a9112 AC_AttitudeControl: naming changes in response to Leonard's review 2015-12-09 19:58:42 +09:00
Jonathan Challinger 0baf86c485 AC_AttitudeControl: fixup more names 2015-12-09 19:58:39 +09:00
Jonathan Challinger 41e580e53a AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO 2015-12-09 19:58:38 +09:00
Jonathan Challinger 5919e95635 AC_AttitudeControl: add input_ prefix to input shaper functions 2015-12-09 19:58:36 +09:00
Jonathan Challinger bba360ea2b AC_AttitudeControl: correct bugs found in review 2015-12-09 19:58:35 +09:00
Jonathan Challinger f8c709478a AC_AttitudeControl: quaternion acro controller 2015-12-09 19:58:33 +09:00
Jonathan Challinger 8b886bc479 AC_AttitudeControl: minor comment changes and reorganization 2015-12-09 19:58:32 +09:00
Jonathan Challinger edda7e4e1e AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw 2015-12-09 19:58:31 +09:00
Jonathan Challinger 1afab89991 AC_AttitudeControl: extensive renaming and recommenting 2015-12-09 19:58:29 +09:00
Jonathan Challinger 06c8457efd AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions 2015-12-09 19:58:27 +09:00
Jonathan Challinger 7330de86e5 AC_AttitudeControl: change internals to use radians instead of centidegrees 2015-12-09 19:58:26 +09:00
Andrew Tridgell 58f0abaf4c AC_AttitudeControl: fixed one usage of zero accel limits 
in other places zero accel limit means no limit
 2015-12-07 13:43:14 +09:00
Randy Mackay 4b41710261 AC_AttControl: minor comment fix 2015-11-18 13:31:18 +09:00
Robert Lefebvre 0b33ef3862 AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters. 2015-11-12 19:37:26 +09:00
Jonathan Challinger 6784fd8625 AC_AttitudeControl: reserve parameter IDs 2015-11-10 12:56:52 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Leonard Hall c8872e082d AC_AttControl: rename set_throttle_out parameter 
No functional change
 2015-09-07 15:10:15 +09:00
Leonard Hall 29ff5035b4 AC_AttControl: limit lean angle from throttle 2015-09-07 15:10:09 +09:00
Gustavo Jose de Sousa d49f10d2e5 AC_AttitudeControl: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:41 +10:00
Randy Mackay 0bf1d04172 AC_AttControl: relax earth frame rate targets along with bf 2015-07-28 15:16:22 +09:00
Randy Mackay 93dd7dd970 AC_AttControl: get_boosted_throttle purely virtual 2015-07-21 16:25:50 +09:00
Randy Mackay 1e3e65e443 AC_AttControl: add shift_ef_yaw_target 
This allows shifting the target heading in case the EKF shifts it's
heading estimate
 2015-06-24 11:49:32 +09:00
Andrew Tridgell 521dae1c65 AC_AttitudeControl: use set_desired_rate() on PID controllers 
this sets them up for logging of PIDs
 2015-05-27 14:28:49 +10:00
Robert Lefebvre 23adf2773c AC_AttitudeControl: Remove To-Do comments for Attitude Rate logging. 2015-05-27 14:28:44 +10:00
Robert Lefebvre 915236f1f5 AC_AttitudeControl: Non-functional comment change 
Don't encourage future misuse of g.rc3
 2015-05-25 22:13:37 +09:00
Andrew Tridgell 326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 1bca81eaed AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Jonathan Challinger ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00
Leonard Hall 24b8d32b0e AC_AttitudeControl: add comment 2015-04-16 21:00:22 +09:00
Jonathan Challinger b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger 518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger 5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Leonard Hall afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Jonathan Challinger e2383581cc AC_AttitudeControl: relax_bf_rate_controller resets rate integrators 2015-03-06 14:02:57 +09:00
Leonard Hall 20de383084 AC_AttControl: accel limiting for angular control only if feed forward enabled 2015-03-06 14:02:52 +09:00
Leonard Hall 792b2a2eb3 AC_AttControl: separate accel max for roll, pitch, yaw 
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
 2015-03-06 14:02:33 +09:00
Leonard Hall 9833c91b2b AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw 2015-03-06 14:02:30 +09:00
Leonard Hall eb084f7c58 AC_AttControl: bf yaw control uses input filtered PID 2015-03-06 14:02:21 +09:00