Leonard Hall
bbe33e38f3
AC_AttitudeControl: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Mark Whitehorn
732ed17f2f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-04-23 09:15:55 +10:00
Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Leonard Hall
e170beaf8c
AC_AttitudeControl: reduce throttle mix for manual modes
2019-04-12 09:28:22 +09:00
Leonard Hall
6e76dff930
AC_AttitudeControl: remove unused set_throttle_out_unstabilized
2019-04-08 09:42:21 +09:00
Mark Whitehorn
55047324ac
AC_AttitudeControl: add new tailsitter bodyframe roll option
2019-03-26 14:50:37 +11:00
Mark Whitehorn
4e9b6d1919
AC_AttitudeControl: improve tailsitter bodyframe roll control
2019-03-26 14:50:37 +11:00
Mark Whitehorn
1c52458d72
AC_AttitudeControl: use new method get_quat_body_to_ned()
2019-03-19 10:46:25 +11:00
Mark Whitehorn
20bbf99b28
AC_AttitudeControl: add body-frame yaw mode for tailsitters
2019-03-06 15:48:51 +11:00
Peter Barker
50d95943e3
AC_AttitudeControl: add pre-arm checks
2019-03-06 10:36:32 +09:00
Pierre Kancir
96e629d83e
AC_AttitudeControl: pass vector by const reference
2018-12-22 08:31:32 +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
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
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
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
Leonard Hall
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
2018-01-19 15:40:24 +09:00
Leonard Hall
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
2018-01-16 12:13:48 +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
Andrew Tridgell
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
2017-10-03 10:16:41 +11:00
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
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
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
Andrew Tridgell
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
2017-02-26 09:20:51 +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
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
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
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
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
50b694444b
AC_AttControl: correct method comments
...
No functional change
2016-08-08 11:24:42 +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
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
558f29b95c
AC_AttitudeControl: control mixing made protected
2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
This allow adjusting the reponse to limit lean angles to reduce altitude loss
2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
...
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
...
This is only called from multicopters
2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
2016-06-18 11:55:49 +09:00
Andrew Tridgell
e070aeebe3
AC_AttitudeControl: added accessors for P and D RMS controller values
2016-06-10 17:48:31 +10:00
Andrew Tridgell
1c463e3f3b
AC_AttitudeControl: log rms P and D separately
...
as discussed with Leonard
2016-06-10 17:48:31 +10:00
Andrew Tridgell
b4bdfa2451
AC_AttitudeControl: return roll, pitch and yaw controller error separately
...
as discussed with Leonard
2016-06-01 17:18:58 +10:00
Andrew Tridgell
6330060e49
AC_AttitudeControl: added monitoring of controller error
...
use RMS P+I+FF output. Thanks to Leonard for the suggestion
2016-05-28 17:33:30 +10:00
Andrew Tridgell
c7664291f9
AC_AttitudeControl: fixed comment on function
2016-04-28 17:46:58 +10:00
Randy Mackay
75042e5e27
AC_AttControl: remove rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
17c9db08f3
AC_AttControl: add angle and rate PIDs
2016-04-01 11:59:30 +09:00
Randy Mackay
c5e5b4f783
AC_AttControl: fix rate controller max definitions to -1 to +1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
2822b93cd4
AC_AttControl: add get_throttle_in accessor
...
Used for logging only
2016-04-01 11:59:30 +09:00
Leonard Hall
c0f209fa42
AC_AttControl: angle_boost to float
2016-04-01 11:59:30 +09:00
Lucas De Marchi
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Jonathan Challinger
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
2016-03-02 20:16:18 +09:00
Leonard Hall
49a4bde5d9
AC_AttControl: lower minimum accelerations for large copters
2016-02-18 20:49:13 +09:00
Randy Mackay
5ddd332277
AC_AttControl: add ANGLE_BOOST param
...
This allows disabling angle boost
2016-01-07 12:31:52 +09:00
Jonathan Challinger
3d4bd92b48
AC_AttitudeControl: add helper functions to retrieve rotation matrices
2015-12-23 11:38:12 +09:00
Randy Mackay
c8661f804f
AC_AttControl: reduce compiler warnings by fixing member init order
...
Also increased _dt's default to 400hz (no functional change)
2015-12-09 20:04:42 +09:00
Randy Mackay
02eda4dcab
AC_AttControl: remove comment, fix formatting
2015-12-09 20:04:32 +09:00
Jonathan Challinger
e8345fbaab
AC_AttitudeControl: rename getters for attitude target and attitude error
2015-12-09 19:58:48 +09:00
Jonathan Challinger
3a06edcee3
AC_AttitudeControl: rename local variable to match naming convention
2015-12-09 19:58:46 +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
a48f201a04
AC_AttitudeControl: comment changes in response to Paul's review
2015-12-09 19:58:41 +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
9208003aab
AC_AttitudeControl: remove unused variable
2015-12-09 19:58:34 +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
d8ee9feaac
AC_AttitudeControl: fixed external tail gyro with no flybar
...
this sets up the tail pass-through for acro mode
2015-11-27 15:24:41 +09:00
Robert Lefebvre
0b33ef3862
AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters.
2015-11-12 19:37:26 +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
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
Leonard Hall
cfc388934b
AC_AttControl: add set_accel_roll_max
...
Also equivalents for pitch and yaw
2015-06-18 23:06:33 +09:00
Randy Mackay
7951346d72
AC_AttControl: bf_feedfoward_save made more concise
2015-05-08 14:29:49 +09:00
Leonard Hall
cf45a1cf3a
AC_AttitudeControl: add get accel and save ff
2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582
AC_AttitudeControl: Enable FF by default
2015-05-08 14:14:21 +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
4d9da2720b
AC_AttitudeControl: add get for angle bf errors
2015-04-16 13:29:52 +09:00
Leonard Hall
afcd1c6ec3
AC_AttitudeControl: sqrt controller on Stab
2015-04-09 20:19:43 +09:00
Leonard Hall
09aa2f8114
AC_AttitudeControl: Fix function discription
2015-03-23 07:40:04 -07:00